This paper discusses about an observer based fault detection scheme to detect sensor and actuator faults simultaneously in LTI system. The proposed strategy is to add derivative action on the extended state observer (ESO) in addition to proportional-integral action, so that the structure of the proposed observer is PD/PI or called PD/PI-ESO. The derivative action is performed both in state estimation and fault estimation. This is to achieve fast state estimation as well as fast fault estimation. Furthermore, the effects of disturbance are attenuated by using the H performance approach. The observer gains are then determined based on Linear Matrix Inequalities (LMI) technique. Simulation results of a DC motor speed control system are presented to illustrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)165-171
Number of pages7
JournalInternational Conference on Electrical Engineering, Computer Science and Informatics (EECSI)
Publication statusPublished - Aug 2015


  • Actuator fault
  • Extended state observer
  • Fault estimation
  • LMI
  • Sensor fault


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