Fault detection in a class of nonlinear systems via adaptive sliding observer

The paper presents the design of an adaptive sliding mode observer under some matching conditions. First the design of the observer for a class of nonlinear systems with slowly varying parameters is addressed. Next, the application of the observer for fault detection purposes is considered. In this context, the residual generation and evaluation problems are addressed, and in addition an adaptive scheme for threshold setting is described. Finally, the proposed fault detection approach is illustrated through simulation results.