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This paper addresses sensor fault detection observer design problems for discrete-and continuous-time nonlinear systems in Takagi-Sugeno's (T-S) form. It is desired that the fault detection observer is as sensitive to fault and robust against disturbance as possible. To this end, sufficient conditions for stable T-S fuzzy model-based observer design with H − /H ∞ performance are derived in terms of linear matrix inequalities in both cases. An example on the backing-up problem of a truck-trailer is provided to illustrate the effectiveness of the proposed methodology.

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