Fault Reconstruction Using Sliding Mode Observers

In this study, a nonlinear sliding observer is proposed to explicitly reconstruct fault signals. The novelty lies in the application of the equivalent output injection concept. Previous work in the area of fault detection has used disruption of the sliding motion to detect faults. The aim of the present study was to design a robust observer that slides in the presence of faults based on the response of the estimated outputs of the system. A numerical example of the application to an inverted pendulum mounted on a cart is provided to demonstrate the approach.