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3757
I. I NTRODUCTION
0278-0046 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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3758
TABLE I
S URVEY PAPERS FOR FAULT D IAGNOSIS AND FAULT T OLERANCE
Fig. 1.
Fig. 2.
3759
Fig. 3.
(k + 1) = A
x(x) + Bv(k) + Kr(k)
x
(2)
r(k) = y(k) y(k)
y(k) = C x
(k)
where x
(k) and y(k) are the estimates of the state and output,
respectively; r(k) is the residual signal, and K is the observer
gain to be designed. Let e(k) = x(k) x
(k), the frequencydomain residual signal can be described by
+ G (z)f(z)
r(z) = Gd(z)d(z)
f
where
d + D
d
Gd(z) = C(zI A + KC)1 B
f + D
f
Gf(z) = C(zI A + KC)1 B
d = (AKC
B
f = (Ba
B
Bc
d = (C
D
Bd
KD )
KDs )
0 D )
f = (0 0 Ds )
D
= xT (z) v T (z) dT (z) T (z) T
d(z)
T
f(z) = faT (z) fcT (z) fsT (z) .
(3)
3760
3761
3762
Fig. 4.
3763
3764
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3767
Zhiwei Gao (SM08) received the B.Eng. degree in electrical engineering and automation and the M.Eng. and Ph.D. degrees in
systems engineering from Tianjin University,
Tianjin, China, in 1987, 1993, and 1996, respectively.
From 1987 to 1990, he was an Assistant Engineer with the Tianjin Electric Drive and Design
Institute, Tianjin. From 1996 to 1998, he was a
Postdoctoral Researcher with the Department of
Mathematics, Nankai University, Tianjin, where,
in 1998, he joined the School of Electrical Engineering and Automation and received a professorship in control science and engineering
in 2001. Since 2011, he has been with the Faculty of Engineering
and Environment, University of Northumbria, Newcastle upon Tyne,
U.K. Before joining the University of Northumbria, he held lecturing
and research positions with the City University of Hong Kong, Hong
Kong; University of Manchester Institute of Science and Technology,
Manchester, U.K.; University of Duisburg-Essen, Essen, Germany; The
University of Manchester, Manchester, U.K.; University of Leicester,
Leicester, U.K.; The University of Liverpool, Liverpool, U.K.; and Newcastle University, Newcastle upon Tyne. His research interests include
data-driven modeling, estimation and filtering, fault diagnosis, faulttolerant control, intelligent optimization, large-scale systems, singular
systems, distribution estimation and control, renewable energy systems,
power electronics and electrical vehicles, bioinformatics, and healthcare
systems.
Dr. Gao is currently an Associate Editor of the IEEE T RANSAC TIONS ON I NDUSTRIAL E LECTRONICS , IEEE T RANSACTIONS ON I NDUS TRIAL I NFORMATICS , and IEEE T RANSACTIONS ON C ONTROL S YSTEMS
T ECHNOLOGY.