Fault Estimation For Discrete-Time Switched Nonlinear Systems With Discrete and Distributed Delays

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Int. J. Robust Nonlinear Control (2016)

Published online in Wiley Online Library (wileyonlinelibrary.com). DOI: 10.1002/rnc.3532
Fault estimation for discrete-time switched nonlinear systems with

discrete and distributed delays
Ju H. Park1 , K. Mathiyalagan1,*,† and R. Sakthivel2,*,†

1 Department of Electrical Engineering, Yeungnam University, 280 Daehak-Ro, Kyongsan 38541, Republic of Korea
2 Department of Mathematics, Sungkyunkwan University, Suwon-440 746, Republic of Korea
SUMMARY
This paper is concerned with the H1 fault estimation for a class of discrete-time switched nonlinear sys-
tems with mixed time delays. The fault existing in the system is assumed to be characterized by an external
system, which incorporates the fault’s prior knowledge to the considered systems. The fault estimator is
designed by using the multiple Lyapunov–Krasovskii functional and average dwell-time approach. Suffi-
cient conditions in the form of linear matrix inequalities (LMIs) are developed to ensure the resulting error
system is exponentially stable with an optimized H1 disturbance attenuation level. The gain matrices of the
estimator can be easily determined by using the standard optimization toolboxes. Finally, numerical exam-
ples and simulation results with the help of real-time systems are given to illustrate the effectiveness and
advantages of the obtained results. Copyright © 2016 John Wiley & Sons, Ltd.
Received 8 October 2014; Revised 10 September 2015; Accepted 30 January 2016
KEY WORDS: fault detection; switched system; average dwell-time; mixed time delays; convex optimiza-
tion.
1. INTRODUCTION
In recent years, fault detection and isolation have been an active research topic because of the
increasing demand for better performance, safety issues, and reliability standards. Real control sys-
tems may encounter different kinds of malfunctions or imperfect performances in normal operations,
usually known as faults. These faults are caused by some unexpected variations or sudden changes
in signals, external surroundings, parameter shifting, and/or normal wear in components [1]. With
the increasing complexity and the higher safety demand of modern dynamic systems, many fruit-
ful results have been proposed to the existing literature; see [2–5] and references therein. The main
objective of the fault detection problem is to detect a fault when it happens, which may then be acted
on by sending alarm signals, taking protection measures, or reconfiguring a running control scheme
[6]. For instance, the fault-tolerant master-slave synchronization for Lur’s systems using time-delay
feedback control is studied in [7]. The problem of parity space-based fault estimations of linear
discrete time-varying systems has been investigated in [8].
In literature, several approaches have been proposed to the fault estimation problems. Among
them, the most common way is the observer-based approach. This approach is based on generating
residuals by designing proper state observers or filters and using these residuals to set a thresh-
old to detect the fault. It is well known that an observer or filter should be designed to guarantee
the improved robustness against unknown inputs and sensitivity to faults [7, 9]. There is increasing
awareness that to ensure robustness in performance requires simpler and stable adaptive observer
*Correspondence to: R. Sakthivel, Department of Mathematics, Sungkyunkwan University, Suwon-440 746, Republic of
Korea; K. Mathiyalagan, Department of Mathematics, Bharathiar University, Coimbatore 641 046, Tamilnadu, India.
† E-mail: krsakthivel@yahoo.com; kmathimath@gmail.com
Copyright © 2016 John Wiley & Sons, Ltd.

J. H. PARK, K. MATHIYALAGAN AND R. SAKTHIVEL
schemes. Remarkable development has been made and succeeded for the fault detection problem
in recent years. It is noted that an optimization problem is one of the most commonly implemented
ways to deal with the fault detection. The main objective of the optimization problem is to introduce
a performance index on the residual signal between the robustness to disturbance and the sensitivity
to faults and formulate the fault detection and isolation as an optimization problem. Moreover, it is
well known that the design problem of H1 -based observer or filter expresses the design procedure
as a mathematical optimization problem for finding some required solutions [10]. The H1 -norm
measures robustness against the unknown inputs to achieving results of guaranteed performance
[11]. Wu and Ho [12] studied the robust fault detection problem for Takagi–Sugeno fuzzy ItOo
stochastic systems using an observer-based fault detection filter as a residual generator. Recently, an
observer-based fault detection filter for networked discrete-time infinite distributed delay systems
with packet dropouts has been proposed in [9].
During the past decades, the discrete-time systems have gained great attention from researchers
for the purposes of computer simulation and digital implementation of continuous time systems.
Nowadays, digital computers can be found in most equipments in a wide range of applications. On
the other hand, switched systems are hybrid dynamical systems composed of subsystems with their
own parameterizations subjects to a rule organizing the switching law between the subsystems [13].
However, the switching properties increase the difficulty to analyze and synthesize the switched
systems. Usually, because the switching rule for systems is considered to being arbitrary and the
switching signals are governed by stochastic processes, the corresponding systems are termed as
jump systems [5]. For analysis and synthesis of switched systems, there have been many approaches
proposed, out of which the dwell-time and average dwell-time approaches are widely accepted and
used among the researchers. Moreover, average dwell-time based switching is attractive and more
flexible in system stability because in this approach, the number of switches in the finite interval is
bounded and the average time between successive switchings is greater than or equal to a constant.
Further, switched systems have a wide range of applications in physical and man-made systems,
such as power electronics, switched-capacitor networks, chaos generators, automated highway sys-
tems, and air traffic management systems in which in the aerospace field, problems like anti-windup
control and full envelope flight control problems can be analyzed by formulating the switched sys-
tems. In recent years, many important results on the problem of H1 analysis for discrete-time
systems/discrete-time switched systems have been reported in [14–19]. A fault detection problem
for linear discrete-time systems in a networked environment using Kronecker delta functions is pro-
posed in [20]. A fault estimator design for switched time-delay systems with impulsive control has
been studied in [21]. A fault detection problem for switched systems under asynchronous switching
is investigated in [22]. A generalized H2 fault detection problem of discrete-time switched systems
with repeated scalar nonlinearities has been investigated in [23].
Besides switching properties, practical processes always involve time-delay, and its presence may
lead to instability and poor performance of control systems [24]. Further, it is reported that the
switched time-delay systems have various applications for practical engineering systems, for exam-
ple, autonomous transmission systems, computer disc drivers, room temperature control, and various
networked control systems. However, in real-world problems, most physical systems and processes
are nonlinear, which are often introduced in the form of exogenous nonlinear disturbances that may
result from the linearization process of an originally highly nonlinear plant. Also, there is special
attention to a class of nonlinear systems called Lipschitz systems, in which the mathematical model
of the system satisfies the Lipschitz continuity condition. It is noted that many real-world systems
satisfy the Lipschitz condition, at least locally near the operating point [3, 25]. Recently, a fault
detection filter design based on a mixed H =H1 optimization problem for discrete-time nonlinear
systems has been investigated in [26]. The problem of robust fault detection for discrete-time nonlin-
ear systems using Takagi–Sugeno fuzzy affine dynamic models is studied in [27]. Fault estimation
of switched nonlinear systems of neutral types has been proposed in [28]. Also, a fault-tolerant
control scheme for nonlinear networked control systems has been analyzed in [2].
In the context of nonlinear systems, there have been a number of interesting results proposed for
the fault detection problems. However, to the best of the authors’ knowledge, the fault estimation
for discrete-time switched nonlinear systems with mixed time delays has not yet been fully inves-
Copyright © 2016 John Wiley & Sons, Ltd. Int. J. Robust Nonlinear Control (2016)
DOI: 10.1002/rnc
FAULT ESTIMATION FOR DISCRETE-TIME SWITCHED NONLINEAR SYSTEMS
tigated; this motivates the present study. Our main attention is focused on designing an appropriate
observer to estimate the fault and system states simultaneously. The main advantages of the paper
are highlighted as follows:
The fault in the system is assumed to be realized by an external system, which carries the fault’s
prior knowledge into the system.
The fault detection problem is focused on the framework of the H1 observer design.
The estimator is designed by using multiple Lyapunov–Krasovskii functional (LKF) together
with the average dwell-time approach, and the results are formulated as a convex optimization
problem with the help of a set of LMIs
The proposed methodology is implemented on an electrical circuit model, and the simulation
result shows that the proposed methodology not only estimates the fault but also regulates the
system states.
The organization of the rest of this paper goes as follows. In Section 2, the main problem is
formulated, followed by some basic definitions and useful lemmas. Section 3 deals with the main
results, which include theorems and corollaries on fault detection for nonlinear and linear cases,
respectively. Section 4 presents numerical examples to demonstrate the usefulness of the proposed
results. Finally, the paper is concluded in Section 5.
2. PROBLEM FORMULATION AND PRELIMINARIES
In this section, we start by introducing some definitions, notations, and basic results that will be
used in this paper. The superscripts T and .1/ stand for matrix transposition and matrix inverse,
respectively; Rnn denotes the nn-dimensional Euclidean space; the notation P > 0 means that P
is real, symmetric, and positive-definite; and I and 0 denote the identity matrix and zero matrix with
compatible dimensions. For simplicity, we denote x.k/ as xk ; diag¹:º stands for a block-diagonal
matrix; we use an asterisk () to X to represent a term that is induced by symmetry; and matrices
that are not explicitly stated are assumed to be compatible for matrix multiplications.
2.1. System description

Consider the discrete-time switched nonlinear system with mixed time delays described by
8
ˆ P

ˆ
< xkC1 D Ak xk C A k xkk C Bk m xkm CG1k g1 .k; xk ; xkk /CB1k dk CB2k fk ;
mD1
ˆ yk D Ck xk C G2k g2 .k; xk ; xkk / C D1k dk C D2k fk ;
:̂
xj D j ; 8j 2 Œ; 0; D maxŒM ; ;
(1)
where xk 2 Rn is the state vector; yk 2 Rm is the measurement output of the systems; and dk 2 Rl
and fk 2 Rp are l2 -norm bounded that denote the disturbance and fault, respectively. g.; / W
Rnx Rnx ! Rnx is a nonlinear function. Switching signal k is a piecewise constant function
of time k and takes the values in a finite set N D ¹1; 2; : : : N º, and N > 1 denotes the number of
subsystems. k D i 2 N means that the i-th subsystem is active, and the corresponding subsystem
weights are denoted by known constant matrices Ai , A i , Bi , G1i , B1i , B2i , Ci , G2i , D1i , D2i with
appropriate dimensions. j 2 Rn is the vector-valued initial function.
The positive sequence k denotes the time-varying discrete delay satisfying 0 6 m 6 k 6 M ,
where m and M are given positive scalars. The constants m > 0 .m D 1; 2; : : : ; / satisfy the
P P
convergence condition m < C1 and mm < C1, where is the upper bound of
mD1 mD1
distributed delay m.
(A1) For X D .xk ; xkk /, it is assumed that the nonlinear functions g1 .k; X / and g2 .k; X / satisfy
g1 .k; 0/ D 0, g2 .k; 0/ D 0 with X D .0; 0/ and Lipschitz conditions, that is,
DOI: 10.1002/rnc
jjg1 .k; X1 / g1 .k; X2 /jj 6 ˛1 jjx1k x2k jj C ˛2 jjx1kk x2kk jj;

jjg2 .k; X1 / g2 .k; X2 /jj 6 ˇ1 jjx1k x2k jj C ˇ2 jjx1kk x2kk jj;
where ˛1 , ˛2 , ˇ1 , and ˇ2 are the Lipschitz constants.

It is noted that in order to achieve high fault estimation performance, it is better to incorporate
the fault’s prior knowledge into the design process, which is reasonable and more suitable in many
practical systems [21]. In this paper, the fault can also be regarded as the output of the following
discrete-time system:
²
xf kC1 D Awf xf k C Bwf f0k ;
(2)
fk D Cwf xf k ;
where xf k 2 Rnf is the state vector with xf 0 D 0; Awf , Bwf , and Cwf are the constant matrices
obtained from the prior knowledge of the possible fault; and f0k is the fictitious signal to be l2 -norm
bounded.
Remark 2.1
It should be mentioned that with various values of Awf , Bwf , and Cwf , the discrete-time system
(2) can be viewed as the general case of various kind of faults like step-wise (constant) fault, ramp
fault, sine wave fault and so on; for more details, refer to the literature [7, 21].
2.2. Observer Description

Our main objective is to estimate the fault signal fk ; for that, we consider the observer for system
(1) as
8
ˆ P

ˆ
ˆ xO D A x
O C A x
O CB m xO km CG1i g1 k; xO k ; xO kk CB2i fOk CK1i .yk yOk /;
ˆ
ˆ kC1 i k i kk i
ˆ
ˆ mD1
< xO f kC1 D Awf xO f k C K2i .yk yOk /;

ˆ
ˆ yOk D Ci xO k C G2i g2 k; xO k ; xO kk C D2i fOk ;
ˆ
ˆ
ˆ fOk
ˆ D Cwf xO f k ;
:̂
xO j D 0; xO f 0 D 0; 8j 2 Œ; 0; D maxŒM ; m;
(3)
where xO k , yOk , fOk , xO f k are the estimates of xk , yk , fk , xf k and K1i , K2i are observer gain matrices
to be designed later.
2.3. Error dynamics

Let us define the following error signals ek D xk xO k , ef k D xf k xO f k , and rf k D fk fOk .
Then, from (1)–(3), we obtain
8
ˆ
ˆ P

ˆ
ˆ ekC1 D .A i K1i C i /ek C A i ek C Bi m ekm C G1i ge1 .k; X; XO /
ˆ
ˆ
k
mD1
ˆ
ˆ
ˆ
< K1i G2i ge2 .k; X; XO / C .B1i K1i D1i /dk C .B2i K1i D2i /Cwf ef k ;
ef kC1 D .Awf K2i D2i Cwf /ef k K2i Ci ek K2i G2i ge2 .k; X; X/ O (4)
ˆ
ˆ
ˆ
ˆ K2i D1i dk C Bwf f0k ;
ˆ
ˆ
ˆ
ˆ rf k D Cwf ef k ;
:̂
ej D j ; ef 0 D 0; 8j 2 Œ; 0;
where ge1 .k; X; X/O D g1 .k; X / g1 .k; XO /, ge2 .k; X; X/

O D g2 .k; X / g2 .k; XO / with XO D
.xO k ; xO kk /.
Denote the following
DOI: 10.1002/rnc

ek ge1 .k; X; XO / dk Ai B2i Cwf
´k D ; ge .k; X; XO / D ; w k D ; A í D ;
ef k ge2 .k; X; XO / f0k 0 Awf
T
T T
A i B i B 1i 0 C I
AN i D ; BN i D ; BN í D ; Cí D i ; ED ;
0 0 0 Bwf .D2i Cwf /T 0
T T T T
G1i 0 0 D1i 0 K1i
GN 1i D N
; G2i D T ; Dí D ; C´r D T ; Kí D ;
0 0 G2i 0 Cwf K2i
then system
8 (4) can be written as
< P

´kC1 D ANi ´k C AN i E ´kk C BN i m E ´km ; CGN i ge .k; X; X/
O C BN 1i wk
mD1 (5)
:
rf k D C´r ´k ;
where ANi D .Aí Kí Cí /, GN i D .GN 1i Kí GN 2i /, BN 1i D .Bí Kí Dí /.
Now, the problems under investigation can be summarized as
to obtain the sufficient conditions for the exponential stability of the switching system (5) when
wk D 0.
to obtain the sufficient conditions for the existence of a suitable H1 fault estimator that can
guarantee the H1 performance for all nonzero wk 2 l2 Œ0; 1/.
2.4. Mathematical preliminaries

The following definitions and lemmas are needed for obtaining the main results.
Definition 2.2
Switched system (5) with wk D 0 is said to be exponentially stable under switching signal k if
there exist some scalars ı > 0 and 0 < < 1, such that the solution xk satisfies
k´k k2 < ı.kk0 / kk2l ; k > k0 ;
where kkl D sup k k and is called the delay rate.
k0 66k0
Definition 2.3
For any k > k0 , a given switching signal k and k0 6 6 k, let N denote the switching
numbers of k during the interval Œk0 ; k. If there exist Ta > 0 and N0 > 0 such that N .k0 ; k/ 6
N0 C .k k0 /=Ta , then Ta and N0 are called the average dwell-time and the chatter bound, the
average dwell-time and the chatter bound, respectively. As commonly used in the literature, we
choose N0 D 0.
Definition 2.4
The switched system (5) is said to be exponentially mean-square stable with guaranteed H1 distur-
bance attenuation level > 0 if it is exponentially mean-square stable under zero initial conditions
P
1 P
1
and satisfies .1 ˛/s rfTs rf s 6 2 wsT ws for every non-zero wk 2 l2 .0; 1/.
sDk0 sDk0
Lemma 2.5 ([29])

Let R 2 Rnn be a positive semi-definite matrix, xk 2 Rnn , and m > 0 .m D 1; 2; : : : /. If
P
P
the series concerned is convergent, then the following inequality holds: m xkT R m x k 6
mD1 mD1
P P
m m xkT Rxk .
mD1 mD1
Lemma 2.6 ([30])

Given matrices A, Q D QT and P > 0, then AT PA Q < 0 holds if and only if there exists a
Q AT S T
matrix S such that < 0.
P S ST
DOI: 10.1002/rnc
3. EXPONENTIAL STABILITY RESULTS
In this section, we study the exponential stability results for the discrete-time switched system (5)
with an H1 performance level > 0 by designing the appropriate observer gain matrices.
Theorem 3.1
For given scalars 0 < ˛ < 1 and > 1, and any switching signal k with an average dwell-time
ln
satisfying Ta > Ta D ln.1˛/ , the nonlinear system (5) is exponentially mean square stable with
an H1 performance level > 0, if there exist n n positive-definite matrices P1i , Q1i , Q2i , Q3i ,
Ri and nf nf positive-definite matrix P2i , satisfying
P1i 6 P1j ; P2i 6 P2j ; Q1i 6 Q1j ; Q2i 6 Q2j ; Q3i 6 Q3j ; Ri 6 Rj ;
any matrices S1i , S2i , Y1i , Y2i of appropriate dimensions, and a scalar
> 0, such that for all
i; j 2 N, i ¤ j , the convex optimization problem:
min with D 2 : (6)
P1i ;P2i ;Q1i ;Q2i ;Q3i ;Ri
subject to LMIs
2 3
…Mi …MT …MT MT
…
1i 2i 3i
6 T 7
6 P1i S1i S1i 0 0 7
6 T 7 < 0; (7)
4 P2i S2i S2i 0 5
I
where … M i D diag¹… M .4;4/i ; .1 ˛/M Q3i ; .1˛/ Ri ;
M .1;1/i ; .1 ˛/P2i ; .1 ˛/m Q1i ; …

N
M 1i D S1i Ai Y1i Ci .S1i B2i Y1i D2i /Cwf 0 S1i A i 0 S1i Bi S1i G1i Y1i G2i
I;
I; 2 I; 2 I º, …
S1i B1i Y1i D1i , … M 2i D Y2i Ci S2i Awf Y2i D2i Cwf 0 0 0 0 0 Y2i G2i Y2i D1i S2i Bwf ,

…M 3i D 0 Cwf 0n;11n , … M .1;1/i D .1˛/P1i Q1i .1CM m /Q2i Q3i R N i 2
.˛12 Cˇ12 /I ,
…M .4;4/i D .1 ˛/m Q2i 2
.˛ 2 C ˇ 2 /I .
2 2 p
Then, the optimal H1 performance level can be obtained by D min . Further, the observer
1 1
gain matrices are given by K1i D S1i Y1i and K2i D S2i Y2i and an estimate of the state
2 ˇ2 kk0 2
decay given by kek k 6 ˇ1 kkl , with ˇ1 D min min .Pi / and ˇ2 D max max .P1i / C
8i 2N 8i 2N
P
max max .Q1i / C .1 C M m / max max .Q2i / C max max .Q3i / C m max max .Ri /.
8i 2N 8i 2N 8i 2N mD1 8i 2N
Proof
In order to prove the required result for the discrete-time switched system (5), we choose the
following LKF for the i-th subsystem:
3
X
Vi k D Vmi k ; (8)
mD1
where
V1i k D ´Tk Pi ´k ;
k1
X k1
X
V2i k D ´Ts .1 ˛/ks1 T
E Q1i E ´s C .1 ˛/ks1 ´Ts E T Q2i E ´s
sDkm sDk .k/
k1
X
C .1 ˛/ks1 ´Ts E T Q3i E ´s ;
sDkM

X m k1
X
X k1
X
V3i k D .1 ˛/ks1 ´Ts E T Q2i E ´s C m .1 ˛/km1 ´Ts E T Ri E ´s :
rDM C1 sDkCr mD1 sDkm
DOI: 10.1002/rnc
Let us define the forward difference of Vi k as Vi k D Vi kC1 Vi k , then we have
V1i k C ˛V1i k D ´TkC1 Pi ´kC1 .1 ˛/´Tk Pi ´k

"
#T
X
D ANi ´k C AN i ´k C BN i k
m ´km C GN i ge .k; X; XO / C BN 1i wk
mD1
"
# (9)
X
Pi ANi ´k C AN i ´kk C BN i m ´km C GN i ge .k; X; XO / C BN 1i wk
mD1
.1 ˛/´Tk Pi ´k ;
V2i k C ˛V2i k 6 ´Tk E T .Q1i C Q2i C Q3i /E ´k .1 ˛/m ´Tkm E T Q1i E ´km
k
Xm
C ´Ts .1 ˛/ks E T Q2i E ´s .1 ˛/m ´Tkk E T Q2i E ´kk (10)
sDkC1M
.1 ˛/M ´TkM E T Q3i E ´kM ;
k
Xm
V3i k C ˛V3i k D .M m /´Tk E T Q2i E ´k ´Tr .1 ˛/kj E T Q2i E ´r
rDkM C1
(11)

X
C m ´Tk E T Ri E ´k m .1 ˛/m ´Tkm E T Ri E ´km :
mD1
By using Lemma 2.5, the summation term in (11) becomes

X
X
m .1 ˛/m ´Tkm E T Ri E ´km 6 .1 ˛/
m ´Tkm E T Ri E ´km
mD1 mD1
"
#T "
#
.1 ˛/ X X
6 m ´km E T Ri E m ´km :
m mD1 mD1
(12)
From Assumption .A1/, we have
jjge1 .k; X; XO /jj 6 ˛1 jjek jj C ˛2 jjekk jjand jjge2 .k; X; X/jj

O 6 ˇ1 jjek jj C ˇ2 jjek jj:
k
Thus, we obtain
geT1 .k; X; XO /ge1 .k; X; XO / 6 2˛12 ekT ek C 2˛22 ek

T
k
ekk ;
geT .k; X; XO /ge2 .k; X; XO / 6 2ˇ12 e T ek C 2ˇ22 e T ek :
2 k kk k
Therefore, for any scalar

> 0, it is clear that
h

i

2 ˛12 C ˇ12 ´Tk E T E ´k C 2 ˛22 C ˇ22 ´Tkk E T E ´kk geT k; X; XO ge k; X; XO > 0:
(13)
To prove the exponential stability result, consider the case w.k/ D 0 in (5), and combining (9)-(13),
we obtain
Vi k C ˛Vi k 6 kT …i k (14)

T
P

where k D ´Tk E T ´Tkm E T ´Tkk E T ´TkM m E T ´Tkm geT k; X; XO , …i D …1i
mD1

C…T2i Pi …2i with …1i D diag¹…1.1;1/i ; .1 ˛/m Q1i ; …1.3;3/i ; .1 ˛/M Q3i ; .1˛/

N
DOI: 10.1002/rnc
Ri ;
I; 2 I º; …1.1;1/i D .1 ˛/Pi Q1i .1 C M m /Q2i Q3i RN i 2
.˛12 C ˇ12 /E T E ,
…1.3;3/i D .1 ˛/ Q2i 2
.˛2 C ˇ2 /I and …2i D Ai 0 A i 0 Bi GN i .
m 2 2 N N N
Applying Lemma 2.6, there exist matrix Si , we can obtain

…1i …OT
…i D 2i : (15)
Pi Si SiT

where … O 2i D Si ANi 0 Si AN i 0 Si BN i Si GN i .
In view of (7), we obtain …i < 0: Thus, it is easy to obtain Vi k C ˛Vi k 6 0: Then, we obtain
Vi kC1 Vi k 6 ˛Vi .k/
which implies that Vk k 6 .1 ˛/kkt Vkt kt and
Vk k 6 .1 ˛/kkt Vkt kt

6 .1 ˛/kkt Vkt 1 kt
6 .1 ˛/kkt .1 ˛/kt kt 1 Vkt 1 kt 1 (16)
D .1 ˛/kkt 1 Vkt 1 kt 1
6 : : : 6 N .k0 ;k/ .1 ˛/kk0 Vk0 k0 :
From Definition 2.2 that N .k0 ; k/ 6 .k k0 /=Ta , then (16) becomes

1
kk0
Vk k 6 .1 ˛/ Ta Vk0 k0 : (17)
It can be verified from (8) that Vk k > ˇ1 k´k k2 and Vk0 k0 6 ˇ2 kk2l , where ˇ1 and ˇ2 are given
in the statement of Theorem 3.1. Then, from (17), we obtain

1
kk0
ˇ1 k´k k2 6 .1 ˛/ Ta ˇ2 kk2l ;
ˇ2 kk0 (18)
k´k k2 6 kk2l ;
ˇ1

1
kk0
where D .1 ˛/ Ta .
Then, by using Ta , one can easily obtain < 1. Hence, from Definition 2.2, system (5) when
wk D 0 is exponentially stable.
Now, we will discuss the H1 performance for the switched system (5). For this, we consider the
following performance index: J D rfT k rf k 2 wkT wk . For all non-zero wk , using the LKF (8)
together with (15), we can calculate
Vi k C ˛Vi k C rfT k rf k 2 wkT wk 6 1k
T Q
…i 1k (19)
T

where 1k D kT wkT ,
2 3
…1i C …OT…O 0 …OT
3i 3i 2i
Qi D6
… 4 2 I BN 1i
T T
Si
7
5;
T
Pi Si Si
O 3i D ŒC´r 0n;5n .
and …
By using the Schur complement, the right-hand side of … Q i in (19) can be rewritten as
2 OT OT 3
…1i 0 … 2i … 3i
6 2 I BN 1i
T T
Si 0 7
Q
…i D 4 6 7: (20)
Pi Si SiT 0 5
I
DOI: 10.1002/rnc
Then, in view of the parameters in (4), the matrices Pi D diag¹P1i ; P2i º, Si D diag¹S1i ; S2i º, and
Y1i D S1i K1i , Y2i D S2i K2i , it is easy to see that (20) is equivalent to (7). Hence, if the LMI (7)
holds, for 0 < ˛ < 1, it follows from (19) that
Vi k C ˛Vi k C rfT k rf k 2 wkT wk 6 0: (21)
Now, to prove the exponential H1 performance for the system, from (21), it is easy to obtain that
Vi k1 < .1 ˛/Vi k0 rfT k0 rf k0 C 2 wkT0 wk0 :
Iterating the aforementioned inequality, we obtain
k1
X

Vi k 6 .1 ˛/kk0 Vi k0 .1 ˛/ks1 rfTs rf s 2 wsT ws :
sDk0
Let s D rfTs rf s C 2 wsT ws . From (7) and the aforementioned inequality, one can obtain that
k1
X k1
X
Vk k 6 .1 ˛/kkt Vk kt C .1 ˛/ks1 s 6 .1 ˛/kkt Vkt 1 kt C .1 ˛/ks1 s
sDkt sDkt
2 3
kX
t 1 k1
X
6 .1 ˛/kkt 4.1 ˛/kt kt 1 Vkt 1 kt 1 C .1 ˛/kt s1 s 5 .1 ˛/ks1 s
sDkt 1 sDkt
2 3
ktX
1 1
6 .1 ˛/kkt 1 2 4.1 ˛/kt 1 kt 2 Vkt 2 kt 2 C .1 ˛/kt 1 s1 s 5

sDkt 2
kX
t 1 k1
X
C .1 ˛/kkt .1 /kt s1 s C .1 ˛/ks1 s
sDkt 1 sDkt
1 1
kX
6 .1 ˛/kk0 N.k0 ;k/ Vk0 k0 C .1 ˛/kk1 N.k0 ;k/ .1 ˛/k1 s1 s
sDk0
2 1
kX k1
X
.1 ˛/kk2 N.k1 ;k/ .1 ˛/k2 s1 s C .1 ˛/ks1 s
sDk1 sDkl
k1
X
D.1 ˛/kk0 N.k0 ;k/ Vk0 k0 C N.s;k/ .1 ˛/ks1 s :
sDk0
P
k1
Then, under zero initial condition, from the aforementioned inequality, we have N.s;k/ .1
sDk0
˛/ks1 s 6 0. Now, multiplying both sides by N .0;k/ , we obtain
k1
X k1
X
N .0;k/ N .s;k/ .1 ˛/ks1 rfTs rf s 6 N .0;k/ N .s;k/ .1 ˛/ks1 2 wsT ws
sDk0 sDk0
k1
X k1
X
) N .0;s/ .1 ˛/ks1 rf s f T rf s 6 N .0;s/ .1 ˛/ks1 2 wsT ws :
sDk0 sDk0
DOI: 10.1002/rnc
s s ln.1˛/
Then, from Definition 2.3, N .0; s/ 6 Ta
6 ln
. Using this in the aforementioned inequality,
we obtain
k1
X k1
X
s ln.1˛/
ln .1 ˛/ks1 rfTs rf s 6 .1 ˛/ks1 2 wsT ws
sDk0 sDk0
which implies that
k1
X k1
X
.1 ˛/s .1 ˛/ks1 rfTs rf s 6 2 .1 ˛/ks1 wsT ws :
sDk0 sDk0
Then, it is easy to obtain that
1
X 1
X
.1 ˛/s rfTs rf s 6 2
wsT ws :
sDk0 sDk0
Therefore, from Definition 2.4, it is concluded that the system (5) has exponential H1 perfor-
mance. This completes the proof.
It is worth pointing out that the proposed results can be easily deduced for the discrete-time
switched linear system with mixed time delays given by
8
< P

xkC1 D Ak xk C A k xkk C Bk m xkm C B1k dk C B2k fk ;
mD1 (22)
:
yk D Ck xk C D1k dk C D2k fk :
The estimation of fault fk in (22) can be obtained by using LKF (8) and following similar lines
(9)–(12) of Theorem 3.1. The LMI-based sufficient conditions are presented in the following
corollary.
Corollary 3.2
For given scalars 0 < ˛ < 1, > 1 and any switching signal k with the average dwell-time
ln
satisfying Ta > Ta D ln.1˛/ , the system (22) is an exponentially mean square stable with an
H1 performance level > 0, if there exist n n positive-definite matrices P1i , Q1i , Q2i , Q3i , Ri
and nf nf positive-definite matrix P2i satisfying
P1i 6 P1j ; P2i 6 P2j ; Q1i 6 Q1j ; Q2i 6 Q2j ; Q3i 6 Q3j ; Ri 6 Rj ;
and any matrices S1i , S2i , Y1i , Y2i of appropriate dimensions such that for all i; j 2 N, i ¤ j , the
convex optimization problem:
min with D 2 : (23)

P1i ;P2i ;Q1i ;Q2i ;Q3i ;Ri
2 3
… Ki …KT …KT …KT
1i 2i 3i
6 P1i S1i S T 0 0 7
subject to LMIs 6
4
1i 7 < 0,
P2i S2i S2i 0 5
T
I

where …i D diag¹….1;1/i ; .1 ˛/P2i ; .1 ˛/ Q1i ; ….4;4/i ; .1 ˛/M Q3i ; .1˛/
K K m K

N
Ri ; 2 I; 2 I º,

…K 1i D S1i Ai Y1i Ci .S1i B2i Y1i D2i /Cwf 0 S1i A i 0 S1i Bi S1i B1i Y1i D1i ,
DOI: 10.1002/rnc

…K 2i D Y2i Ci S2i Awf Y2i D2i Cwf 0 0 0 0 Y2i D1i S2i Bwf , … K 3i D 0 Cwf 0n;11n ,
…K .1;1/i D .1 ˛/P1i Q1i .1 C M m /Q2i Q3i R K .4;4/i D .1 ˛/m Q2i . Then,
N i, …
p
the optimal H1 performance level D min . Also, the observer gain matrices and state decay
rates can be obtained by using the same expressions as in Theorem 3.1.
Remark 3.3
To make results more appropriate for switched systems, we choose the multiple LKF in deriving the
main results. So, in case of the restricted switching signals, results are more efficient in dealing with
switching rules between the subsystems.
4. NUMERICAL SIMULATION
In this section, we present two numerical examples to illustrate the effectiveness of the proposed
fault estimation criteria.
Example 4.1
Consider the nonlinear discrete time switched system (5) consisting of three subsystems with the
parameters of each mode are given as follows:
Subsystem 1
2 3 2 3 2 3
0:3 0:5 0:2 0:02 0:1 0 0 0:05 1
A1 D 4 0:3 0:4 0:5 5 ; Ad1 D 4 0 0:05 0:1 5 ; B1 D 4 0:05 0 0:05 5 ;
0:2 0:1 0:2 0:1 0 0:09 0 0 0:08
T T
G11 Ddiag¹0:3; 0:2; 0:1º; B11 D 0:8 0:1 0:7 ; B21 D 0:9 0:3 0:6 ;

0:6 0 0:6 0:2 0:5 0:4
C1 D ; G21 D ; D11 D ; D21 D :
0:3 0:1 0:2 0:1 0:1 0:2
Subsystem 2
2 3 2 3 2 3
0:1 0:7 0:5 0:2 0 0:1 0:03 0 0:09
A2 D 4 0:1 0:9 0:5 5 ; Ad 2 D 4 0:01 0:1 0 5 ; B2 D 4 0:03 0:07 0 5 ;
1 0:5 0:4 0 0:09 0:04 0:1 0 0:06
T T
G12 Ddiag¹0:1; 0:5; 0:3º; B12 D 0:7 0:9 0:09 ; B22 D 0:6 0:7 0:9 ;

0:5 0:8 0:7 0:2 0:6 0:2
C2 D ; G22 D ; D12 D ; D22 D :
0:2 0 0:1 0:5 0:2 0:3
Subsystem 3
2 3 2 3 2 3
0:3 0 0:1 0:1 0 0:2 0:02 0:1 0
A3 D 4 0:5 0:2 0:1 5 ; Ad 3 D 4 0:1 0:2 0:1 5 ; B3 D 4 0:05 0:06 0:01 5 ;
0:2 0:5 0:7 0:1 0:1 0 0:1 0:05 0:06

G13 D diag ¹0:5; 0:3; 0:1º; B13 D 1 0:1 0:5 ; B23 D 0:8 0:5 0:5 ;

0:5 0:2 0:4 0:5 0 1
C3 D ; G23 D ; D13 D ; D23 D :
0:3 1 0 0:2 1 0:5
Let the nonlinear functions satisfy kg1 .k; X /k 6 0:2kxk k C 0:1kxkk k and kg2 .k; X /k 6
0:05kxk k C 0:15kxkk k. The discrete time-varying delay and distributed delay are considered as
P P2
k D 3 C sin 2 k and m D .0:9/m , respectively. From the aforementioned relations on
mD1 mD1
time delay, it is easy to see that the upper and lower bounds of discrete delay are m D 2, M D 4,
DOI: 10.1002/rnc
and the upper bound of the distributed delay is D 2 and m D 1:71, respectively. Choose the
switching signal with ˛ D 0:01, D 1:02, then the average dwell-time is obtained by Ta > Ta D
1:9703. Taking Ta D 2, the decay rate of the system can be achieved as D 0:9999 < 1.
Now, we consider two different types of faults in the considered system through the following
two cases.
Case 1: It is assumed that the fault fk is step-wise as shown in Figure 2. Consider the state space
realization of fault (2) with the following parameters:

0 0:1 1
Awf D ; Bwf D ; Cwf D 1 0:1 :
0:1 0 0
By solving the convex optimization problem (6), we can obtain a set of feasible solution (which
is not provided here because of page length), the required gain matrices for the observer can be
obtained as
2 3 2 3 2 3
0:3005 0:6041 0:6513 0:2550 0:2002 0:2100
K11 D 4 0:0978 0:0827 5 ; K12 D 4 0:7120 0:0316 5 ; K13 D 4 0:3321 0:4911 5 ;
0:1355 0:4869 0:3102 0:8891 0:3714 0:0597

0:0072 0:0134 2 0:0150 0:2034 2 0:0523 0:0034
K21 D ; K22 D 10 ; K23 D 10
0:0762 0:1422 0:1327 1:7906 0:5408 0:0355
with a minimum H1 performance index D 2:0987. Now, we provide the simulation results
to show the effectiveness of the developed fault estimation results in terms of feasible solu-
tions
² of LMIs proposed in Theorem 3.1. For this, we assume the disturbance signal as dk D
0:1 sin.0:05k/#k ; k D 12; 13; : : : 25;
where #k is a binomially distributed random noise. The
0 otherwise;
simulation results are presented in Figures 1 and 2.
The switching between modes and state trajectories of error state ek with fault compensation is
presented in Figure 2(a) and (b). Further, the tracking performance of fk is shown in Figure 1.
Simulation results shows that the proposed method can efficiently estimate the fault signal. Besides,
it should be noticed that the error dynamics of the considered model converges quickly, which
shows that the designed observer performed well over the time delays and external disturbances. In
other words, the designed observer efficiently estimates the states of the system and faults in the
system simultaneously. Therefore, it can be concluded that by using Theorem 3.1, the considered
system (5) is exponentially stable with an H1 attenuation level D 2:0987 and decay rate kek k 6
3:1606e 0:0007.kk0 / kkl .
1.5
Fault & its estimation
0.5
−0.5
−1
5 10 15 20 25 30 35 40 45 50
Time t
Figure 1. Step fault fk and its estimation in Case 1 of Example 4.1.
DOI: 10.1002/rnc
4 1
e1k
3.5 0.8
e2k
Switching between Modes 0.6 e
3 3k
0.4
2.5
Amplitute
0.2
2 0
1.5 −0.2
−0.4
1
−0.6
0.5 −0.8
0 −1
5 10 15 20 25 30 35 40 45 50 5 10 15 20 25 30 35 40 45 50
Time t Time t
Figure 2. Simulation results for Case 1 of Example 4.1.
Case 2: Assume that a sine wave fault in Figure 3 and the state space realization of fault (2) with
parameters:

0 0:1 0:1 0
Awf D ; Bwf D ; Cwf D 1 0:1 :
0:1 0 0 0:1
In this case, by the convex optimization problem (6), the gain matrices of the observer system are
2 3 2 3 2 3
0:1899 0:3850 0:6476 0:3124 0:1829 0:2070
K11 D 4 0:0959 0:0143 5 ; K12 D 4 0:7137 0:1499 5 ; K13 D 4 0:3094 0:4849 5 ;
0:2269 0:6181 0:2891 0:9174 0:4318 0:0718

0:0017 0:0034 2 0:0026 0:0497 2 0:0110 0:0004
K21 D ; K22 D 10 ; K23 D 10
0:0170 0:0339 0:0256 0:4965 0:1101 0:0044
with minimum H1 performance index D 0:1029 and the considered system (5) is exponentially
stable with decay rate kek k 6 2:9191e 0:0007.kk0 / kkl . To this end, the fault fk and its estimation
are shown in Figure 3. It is clear that the designed estimator is able to estimate the fault. Finally, it
is worth pointing out that in both cases, the designed estimator works well to estimate the faults that
occurred in the system. This demonstrates the effectiveness of the proposed results.
Example 4.2
In this example, the switched electrical circuit model (ECM) in Figure 4 [21] is considered to
illustrate the validity and superiority of the developed fault estimation scheme for some real-time
systems.
The circuit in Figure 3 has two modes, which are given by Mode 1, namely, the ON time (S1
is closed and S2 is open), and Mode 2, namely, the OFF time (S1 is open and S2 is closed). In
this circuit, the two switches S1 and S2 are often considered as a bipolar transistor and diode,
respectively. Vc is the capacitor voltage equal to the output volt age delivered to the load R1 , and I1
is the inductor current. It is noted that during Mode 1, the inductor current is also equal to the input
source current and that during Mode 2, the input source current is zero.
On the other side, it is well known that the time delay often exists in many electronic circuit appli-
cations. Sometimes, a delay of a few seconds or minutes may be a crucial requirement for ensuring
correct operation of the circuit, and without the specified delay, the circuit could malfunction or even
be damaged. In the considered model, the delays can enter into this system because of the existence
of the inductor and/or the transmission channel. Thus, by considering the aforementioned aspects,
it is reasonable to describe this ECM into a discrete-time switched linear system with mixed time
delays (22).
DOI: 10.1002/rnc
1.5

1
0.5
−0.5
−1
−1.5
−2
5 10 15 20 25 30 35 40 45 50
Time t
Figure 3. Sine wave fault fk and its estimation in Case 2 of Example 4.1.
Figure 4. Electric circuit model.
Now, consider the two-mode ECM in Figure 4 governed by the switched linear system (22), the
parameters of each mode are given by
Mode 1
2 3 2 3 2 3
0:5 0:1 0 0:2 0 0 0:08 0 0:1
A1 D 4 0 0:5 0:4 5 ; Ad1 D 4 0:5 0:05 0 5 ; B1 D 4 0:05 0:07 0 5 ;
0 0 0:3 0:1 0 0:0 0 0:02 0:06
2 3 2 3
1 0:5
0:5 0 1 0:5 0:4
B11 D 4 0:1 5 ; B21 D 4 0:1 5 ; C1 D ; D11 D ; D21 D ;
1 01 0:1 0:2
0 0:1
Mode 2
2 3 2 3 2 3
0:1 0:5 0:5 0:2 0:1 0 0:05 0 0:04
A2 D 4 0:2 1 0 5 ; Ad 2 D 4 0 0:3 0:06 5 ; B2 D 4 0:02 0:09 0 5 ;
0:3 0 0:5 0:1 0 0:4 0 0:1 0:05
2 3 2 3
1 0:4
4 5 4 5 110 0:5 0:7
B12 D 0:3 ; B22 D 0:1 ; C2 D ; D12 D ; D22 D :
011 0:1 0:4
0 0:5
DOI: 10.1002/rnc
1.5

1
0.5
−0.5
−1
−1.5
−2
10 20 30 40 50 60 70 80 90 100
Time t
Figure 5. Step fault fk and its estimation in Example 4.2.

Let the discrete and distributed time-delays in the ECM model be assumed as k D 2 C sin 2 k
and m D 0:9m with D 2. Now, for the switching signal with ˛ D 0:05 and D 1:2, the average
dwell-time is obtained as Ta > Ta D 1:9703. Hence, by taking Ta D 2, the decay rate of the system
can be achieved as D 0:9943, which is less than 1.
In this example, the fault fk is assumed as in Figure 5, the state space realization of fault (2) with

0:1 0 0:1
Awf D ; Bwf D ; Cwf D 0:5 1 :
0:1 0:5 1
By solving the convex optimization problem (23), the observer gain matrices are obtained as
2 3 2 3
0:0010 0:3006 0:6243 0:5880
K11 D 4 0:2398 0:0445 5 ; K12 D 4 0:5901 0:0960 5 ;
0:0766 0:0333 0:4311 0:5154

0:0389 0:0248 4 0:0091 0:0175
K21 D ; K22 D 10
0:5046 0:3214 0:1347 0:4211
with an optimized minimum H1 performance level D 2:1884 and an estimate for the state decay
as kek k 6 4:996e 0:0029.kk0 / kkl .
To show the efficiency, we have shown the simulations of step-wise fault fk and its estima-
tion fOk² in Figure 5. For simulation, the external disturbance signal in the ECM is taken as
0:1; k D 1; 2; : : : 33;
dk D where #k is a binomially distributed random noise. It is easy
sin.0:02k/#k ; otherwise;
to see that the designed estimators are suitable and able to estimate the faults with a prescribed H1
performance level. This proves the applicability of the proposed results.
5. CONCLUSION
In this paper, the problem of H1 fault estimation for a class of discrete-time switched nonlinear sys-
tems with mixed time delays has been investigated. The prior knowledge of the fault is incorporated
by an external system. The estimator is designed to estimate both the fault and the states of the con-
sidered system. The results are derived by using the multiple LKF and average dwell-time approach.
Some sufficient conditions are developed in terms of LMIs to ensure the exponential stability of the
error system with a minimum H1 attenuation level. Finally, numerical examples with simulation
DOI: 10.1002/rnc
results are provided to show the advantages and effectiveness of the proposed theoretical results. In
addition, the proposed fault estimation results can be extended to networked cascade control sys-
tems. Further, because the problems of adaptive fault identification and nonlinear observer-based
fault identification for networked control systems are an untreated topic, these issues will be our
future topics of research.
ACKNOWLEDGEMENTS
This work was supported by the Basic Science Research Program through the National Research Foundation
of Korea (NRF) funded by the Ministry of Education, Science and Technology (2013R1A1A2A10005201).
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Fault Estimation For Discrete-Time Switched Nonlinear Systems With Discrete and Distributed Delays

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

Int. J. Robust Nonlinear Control (2016)

Fault estimation for discrete-time switched nonlinear systems with

Ju H. Park1 , K. Mathiyalagan1,*,† and R. Sakthivel2,*,†

Received 8 October 2014; Revised 10 September 2015; Accepted 30 January 2016

Copyright © 2016 John Wiley & Sons, Ltd.

2. PROBLEM FORMULATION AND PRELIMINARIES

2.1. System description

jjg1 .k; X1 / g1 .k; X2 /jj 6 ˛1 jjx1k x2k jj C ˛2 jjx1kk x2kk jj;

where ˛1 , ˛2 , ˇ1 , and ˇ2 are the Lipschitz constants.

2.2. Observer Description

2.3. Error dynamics

where ge1 .k; X; X/O D g1 .k; X / g1 .k; XO /, ge2 .k; X; X/

2.4. Mathematical preliminaries

Lemma 2.5 ([29])

Lemma 2.6 ([30])

3. EXPONENTIAL STABILITY RESULTS

where … M i D diag¹… M .4;4/i ; .1 ˛/M Q3i ; .1˛/ Ri ;

M .1;1/i ; .1 ˛/P2i ; .1 ˛/m Q1i ; …

Let us define the forward difference of Vi k as Vi k D Vi kC1 Vi k , then we have

V1i k C ˛V1i k D ´TkC1 Pi ´kC1 .1 ˛/´Tk Pi ´k

.1 ˛/M ´TkM E T Q3i E ´kM ;

By using Lemma 2.5, the summation term in (11) becomes

jjge1 .k; X; XO /jj 6 ˛1 jjek jj C ˛2 jjekk jjand jjge2 .k; X; X/jj

geT1 .k; X; XO /ge1 .k; X; XO / 6 2˛12 ekT ek C 2˛22 ek

Therefore, for any scalar

Vi k C ˛Vi k 6 kT …i k (14)

Vk k 6 .1 ˛/kkt Vkt kt

Vi k C ˛Vi k C rfT k rf k 2 wkT wk 6 0: (21)

Vi k1 < .1 ˛/Vi k0 rfT k0 rf k0 C 2 wkT0 wk0 :

Iterating the aforementioned inequality, we obtain

6 .1 ˛/kkt 1 2 4.1 ˛/kt 1 kt 2 Vkt 2 kt 2 C .1 ˛/kt 1 s1 s 5

which implies that

Then, it is easy to obtain that

min with D 2 : (23)

Figure 1. Step fault fk and its estimation in Case 1 of Example 4.1.

Figure 2. Simulation results for Case 1 of Example 4.1.

Fault & its estimation

Figure 4. Electric circuit model.

Fault & its estimation

Figure 5. Step fault fk and its estimation in Example 4.2.

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Ju H. Park1 , K. Mathiyalagan1,,† and R. Sakthivel2,,†

Vi k C ˛Vi k 6 kT …i k (14)

6 .1 ˛/kkt 1 2 4.1 ˛/kt 1 kt 2 Vkt 2 kt 2 C .1 ˛/kt 1 s1 s 5