设计的观测器不仅能实现故障检测，而且应用神经网络设计的故障估计器能在线估计系统中的故障向量。

The nonlinear observer can not only detect fault, but also realize the fault diagnosis. It is proved that the scheme has good robustness against modeling error and uncertainty.

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综合自联想网络的最优估计与故障诊断，自动区分估计误差和传感器故障。

Sensor fault detection is accomplished by integrating the optimal estimation and fault detection logic.

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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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