5910 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 62, NO. 9, SEPTEMBER 2015
Fault-Tolerant Sliding-Mode-Observer Synthesis
of Markovian Jump Systems Using
Quantized Measurements
Peng Shi, Fellow, IEEE, Ming Liu, and Lixian Zhang, Senior Member, IEEE
Abstract—This paper investigates the design prob-
lem of sliding mode observer (SMO) using quantized
measurements for a class of Markovian jump systems
against actuator faults. Such a problem arises in modern
networked-based digital systems, where data have to be
transmitted and exchanged over a digital communication
channel. In this paper, a new descriptor SMO approach
using quantized signals is presented, in which a discon-
tinuous input is synthesized to reject actuator faults by an
offline static compensation of quantization effects. It is re-
vealed that the lower bound on the density of a logarithmic
quantizer is 1/3, under which the quantization effects could
be compensated completely by using the SMO approach.
Based on the proposed observer method, the asymptotical
estimations of state vector and quantization errors can be
obtained simultaneously. Finally, an example of a lineariz ed
model of an F-404 aircraft engine system is included to
show the effectiveness of the presented observer design
method.
Index Terms—Actuator fault, Markovian jumping para-
meters, quantization, sliding-mode observer (SMO), state
estimation.
Manuscript received September 2, 2014; revised January 1, 2015;
accepted March 8, 2015. Date of publication June 5, 2015; date of
current version August 7, 2015. This work was supported in part by
the New Century Excellent Talents Program of the Ministry of Educa-
tion of the People’s Republic of China under Grant NCET-13-0170, in
part by the National Natural Science Foundation of China (61322301,
61473096), in part by the National Natural Science Foundation of
Heilongjiang (F201417, JC2015015), in part by the Fundamental Re-
search Funds for the Central Universities, China (HIT.BRETIII.201211,
HIT.BRETIV.201306), in part by the Chinese National Postdoctoral
Science Foundation under Grant 2011M500058, in part by the Spe-
cial Chinese National Postdoctoral Science Foundation under Grant
2012T50356, and in part by the Deanship of Scientific Research, King
Abdulaziz University, under Grant no. (81-130-35-HiCi).
P. Shi is with the School of Electrical and Electronic Engineering,
University of Adelaide, Adelaide, S.A. 5005, Australia, with the College
of Engineering and Science, Victoria University, Melbourne, Vic. 8001,
Australia, and also with the College of Automation, Harbin Engineering
University, Heilongjiang 150001, China (e-mail: peng.shi@adelaide.
edu.au).
M. Liu is with the Research Center of Satellite Technology, Harbin
Institute of Technology, Harbin 150001, China (e-mail: mingliu23@hit.
edu.cn).
L. Zhang is with the Research Institute of Intelligent Control and
Systems, Harbin Institute of Technology, Harbin 150080, China, and also
with the Faculty of Science, King Abdulaziz University, Jeddah 21589,
Saudi Arabia (e-mail: lixianzhang@hit.edu.cn).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2015.2442221
I. INTRODUCTION
I
N modern practical industrial devices, system states are
generally physically full or partially unavailable for direct
measurement, and a full state feedback stabilization scheme is
almost impossible to be implemented. In such cases, state esti-
mation via an observer is thus of a realistic significance, which
has been the subject of extensive research in signal processing
domain over the past several decades [2], [12]. Since external
disturbances and unknown faults inevitably cause performance
degradation for observer synthesis in a variety of industrial
processes, disturbances and/or fault-tolerant observer design
have thus received a great amount of attention, and a number of
design techniques have been reported in the literature [19]–[21],
[23]. Among the existing approaches, the sliding-mode ob-
server (SMO) has been recognized as one of the most effective
approaches to reject disturbances and faults to be an essential
basis of a state estimation task. The main characterization of
an SMO scheme is that a discontinuous input term is injected
into the observer to eliminate faults or disturbances, which is
synthesized based on the sliding mode control theory. In recent
years, SMO has been applied to a wide variety of realistic engi-
neering systems, including aircraft, underwater vehicles, space-
craft, flexible space structures, power systems, etc. [5], [16].
On another research front, the rapid advances of network
technologies have led to a series of successful applications
of the so-called networked-based control systems in complex
modern industry processes. However, certain limitations in-
duced by the insertion of network devices also arise inevitably,
including communication delays, intermittent data package
losses, and signal quantization. In this sense, quantized state
estimation has thus attracted considerable r esearch interest as a
part of the solution of the network-based estimation problem,
where transmitted information suffers also from transmission
delays and packet dropouts. In addition, recently, some re-
sults on network-based SMO design have been also reported
[5], [6], [13].
The Markovian jump system (MJS) is an appropriate model-
ing candidate to describe dynamic systems with random abrupt
variation structure. A great number of realistic dynamical sys-
tems can be modeled by MJSs, such as chemical processes,
communication networks, aerospace industry, economics sys-
tems, etc. Due to MJS’s great application potential i n a variety
of engineering, a great amount of effort has been devoted to
address various control and filtering problems of MJS in the
past decades [8], [18]. In particular, some researchers have
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