Fig. 1 Schematic of the electrohydraulic actuator system [ 28 ] More about this image found in Schematic of the electrohydraulic actuator system [ 28 ]

Fig. 2 Smooth variable structure filter with variable boundary layer More about this image found in Smooth variable structure filter with variable boundary layer

Fig. 3 The UIMM flowchart for one cycle [ 28 ] More about this image found in The UIMM flowchart for one cycle [ 28 ]

Fig. 4 Fault detection and diagnosis for the open-loop system with major faults: ( a ) UIMM-SVSF-VBL, ( b ) IMM-SVSF-VBL, ( c ) IMM-KF, and ( d ) IMM-KF with added artificial noise More about this image found in Fault detection and diagnosis for the open-loop system with major faults: (...

Fig. 5 Fault detection and diagnosis for the open-loop system with minor faults: ( a ) UIMM-SVSF-VBL, ( b ) IMM-SVSF-VBL, and ( c ) IMM-KF with added artificial noise More about this image found in Fault detection and diagnosis for the open-loop system with minor faults: (...

Fig. 6 Flowchart of the UIMM-SVSF-VBL application in closed-loop system for real-time FDD and control More about this image found in Flowchart of the UIMM-SVSF-VBL application in closed-loop system for real-t...

Fig. 7 Position control of the EHA using PD controller More about this image found in Position control of the EHA using PD controller

Fig. 8 Fault detection and diagnosis for the closed-loop system with PD controller: ( a ) UIMM-SVSF-VBL, ( b ) IMM-SVSF-VBL, and ( c ) IMM-KF with added artificial noise More about this image found in Fault detection and diagnosis for the closed-loop system with PD controller...

Fig. 9 Comparing the PD controller and FTCS with adaptive controller for the EHA system using UIMM-VBL-SVSF More about this image found in Comparing the PD controller and FTCS with adaptive controller for the EHA s...

Fig. 10 Fault detection and diagnosis in a fault-tolerant position control system using UIMM-SVSF-VBL More about this image found in Fault detection and diagnosis in a fault-tolerant position control system u...

Fig. 1 Prediction model for the proposed offset-free NMPC More about this image found in Prediction model for the proposed offset-free NMPC

Fig. 2 Proposed offset-free NMPC with integrated input disturbance/output disturbance/unknown parameter estimation More about this image found in Proposed offset-free NMPC with integrated input disturbance/output disturba...

Fig. 3 Estimated parameter using the proposed scheme, the MHE and the EKF schemes More about this image found in Estimated parameter using the proposed scheme, the MHE and the EKF schemes

Fig. 4 Plant's responses with plant-model mismatch (model: k o is estimated by the proposed method, MHE and EKF-based schemes, and updated in NMPC law; plant: the actual trajectory of k o is shown in Fig. 3 as dashed-dotted line) More about this image found in Plant's responses with plant-model mismatch (model: k o is e...

Fig. 5 Plant's responses with plant-model mismatch using NMPC with the proposed integrated output disturbance model, MHE and EKF-based schemes (model: k o = 300 ; plant: the actual trajectory of k o is shown in Fig. 3 as dashed-dotted line) More about this image found in Plant's responses with plant-model mismatch using NMPC with the proposed in...