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Summary The problem of fault diagnosis in engineering systems with uncertainties described by nonlinear discrete‐time models is studied within the scope of analytical redundancy concept. Solution of the problem assumes the checking redundancy relations existing among system inputs and outputs measured over a finite time window. The nonparametric method is used to construct redundancy relations involving transformation of the initial system model into canonical form with special properties. The obtained results are illustrated by the general electric servoactuator of manipulation robots.

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