A Continuous-Discrete Finite Memory Observer Design for a Class of Nonlinear Systems: Application to Fault Diagnosis

Algorithm 1

The summarized nonlinear CD-FMO algorithm.

	Step 1: Initialization (). At each frozen time instant , given the measurement set and the previous estimation .
	Step 2: Calculating for all the elements in set , then using Newton-Cotes formulas to compute by (16a)
	Step 3: Perform a one-step prediction of at instant , noted as , by using and (13).
	Step 4: Iterative updating ()
	(4a) Calculating by (17) with the predicted in Step 3;
	(4b) Using Newton-Cotes formulas to obtain by (16b);
	(4c) Computing the whole integral term by (15);
	(4d) Updating as via (11) and (12a);
	(4e) If or , then terminate iteration; else set , , and go back to (4a).
	Step 5: Moving the time window to next time instant , and go back to Step 1.