然后采用强跟踪滤波器估计过程状态及传感器偏差，传感器偏差估计用于驱动一个故障检测逻辑。

Then, the STF is adopted to estimate process states and sensor bias, the estimated sensor bias is used to drive a fault detection logic.

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针对一类具有模型不确定性且状态部分可测的非线性系统，提出了一种基于鲁棒自适应技术的传感器偏差故障检测与分离方法。

This paper is concerned with the problem of robust fault detection for a class of discrete-time systems with norm-bounded uncertainties and time delays in state.

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当传感器存在刻度系数误差、安装误差和测量偏差时，将会明显降低系统的FDI性能。

However, the sensor errors such as input axis misalignment, scale factor errors and biases, have significant effect on the FDI performance.

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