TY - JOUR ID - TI - Robust Sensor Fault Estimation for Control Systems Affected by Friction Force AU - Ruaa Hameed Ahmed AU - Montadher Sami Shaker PY - 2022 VL - 22 IS - 3 SP - 34 EP - 47 JO - IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم SN - 18119212 AB - The paper presents an observer-based estimation of sensor fault for control systems affected by friction force. In such systems, the non-linearity of friction force leads to deteriorating sensor fault estimation capability of the observer. Hence, the challenge is to design an observer capable of attaining robust sensor fault estimation while avoiding the effects of friction. To overcome the highlighted challenge, an Unknown Input Observer (UIO) is designed to decouple the effects of friction as well as to estimate the state and sensor fault.The benefit of proposing UIO is to guarantee robust sensor fault estimation despite the highly non-linear disturbance in the form of friction. The gains of the UIO are computed through a single–step linear matrix inequality. Finally, an inverted pendulum simulation is presented to demonstrate the novel approach's performance effectiveness.

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