Finite-Frequency H-/HFault Detection for Discrete-Time T-S Fuzzy Systems with Unmeasurable Premise Variables

Meng Zhou, Zhengcai Cao, Mengchu Zhou, Jing Wang

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


This paper investigates a finite-frequency H-/H∞ fault detection method for discrete-time T-S fuzzy systems with unmeasurable premise variables. To minimize the effect of uncertainties on system performance and maximize that of actuator faults on the generated residual, both the H∞ disturbance attenuation index and finite-frequency H- fault sensitivity index are utilized. Since the premised variables are unmeasurable, the existing generalized Kalman-Yakubovich-Popov lemma cannot be directly extended to these nonlinear systems. In this paper, the conditions of allowing one to design the proposed H-/H∞ fault detection observer are established and transformed into linear matrix inequalities. Some scalars and slack matrices are introduced to bring extra degrees of freedom in observer design. Finally, a single-link robotic manipulator model is utilized to illustrate that the proposed technique can detect faults with smaller amplitude than that required by a normal H∞ observer technique.

Original languageEnglish (US)
Article number8868110
Pages (from-to)3017-3026
Number of pages10
JournalIEEE Transactions on Cybernetics
Issue number6
StatePublished - Jun 2021

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Discrete-time T S fuzzy systems
  • fault detection
  • finite-frequency H- index
  • unmeasurable premise variable


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