Search for: [Abstract = "This paper is concerned with actuator fault detection in nonlinear systems in the presence of disturbances. A nonlinear unknown input observer is designed and the output estimation error is used as a residual for fault detection. To deal with the problem of high Lipschitz constants, a modified mean\-value theorem is used to express the nonlinear error dynamics as a convex combination of known matrices with time\-varying coefficients. Moreover, the disturbance attenuation is performed using a modified H\[the sign of infinity\] criterion."]

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