Dynamic Event-Triggered Interval Observer-Based Fault Detection for a Class of Nonlinear Cyber–Physical Systems with Disturbance

This paper investigates the problem of interval estimation and fault detection for nonlinear cyber–physical systems (CPSs) subject to disturbances and random actuator/sensor faults. First, with the purpose of reducing the burden of data transmission, we introduce the dynamic event-triggered mechanism (DETM). For systems violating the non-negativity condition, a coordinate transformation method is applied to enhance the design flexibility. Then, the dynamic event-triggered interval observer (DETIO) is constructed and the effectiveness of DETIO is validated by demonstrating the ultimate uniform boundedness of the error system. The fault detection is achieved by considering faults in the CPSs and continuously monitoring residual signals. Finally, two numerical simulations under both faulty and fault-free conditions are shown to prove the effectiveness and superiority of the designed DETIO-based fault detection method.