Threshold design for fault detection with first order sliding mode observers

Sliding Mode Observer (SMO) based methods have been extensively used for Fault Estimation (FE). However, the fault detection (FD) problem these SMO FE has not completely solved. In this paper a robust threshold on so-called Equivalent Output Injection (EOI) is presented which enables FD systems with measurement noise and unmatched uncertainties. This applicable to large class of existing methods, its applicability can easily be verified. Theoretical guarantees performance are provided, further demonstrated via simulation study.