Robust H∞ Proportional-Integral Observer for Fault Diagnosis: Application to Vehicle Suspension

The main contribution of this paper is the design of robust $\mathcal{H}_{\infty}$ proportional-integral (PI) observer for fault detection, isolation and magnitude estimation, applied for uncertain linear time-invariant (LTI) system. It is based on a combination of PI observer and $\mathcal{H}_{\infty}$ norm in order to deal with system uncertainty and disturbance attenuation. This multi-objective problem is tackled by the solution of linear matrix inequality (LMI) feasibility problem, obtained from the analysis of estimation errors and the use of majoration lemma. The application to a real suspension system is then presented to highlight the performances of the proposed observer.

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