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A sensor fault diagnosis of an electric vehicle (EV) modeled as a Takagi-Sugeno (TS) system is proposed. The proposed TS model considers the nonlinearity of the longitudinal velocity of the vehicle and parametric variation induced by the slope of the road; these considerations allow to obtain a mathematical model that represents the vehicle for a wide range of speeds and different terrain conditions. First, a virtual sensor represented by a TS state observer is developed. Sufficient conditions are given by a set of linear matrix inequalities (LMIs) that guarantee asymptotic convergence of the TS observer. Second, the work is extended to perform fault detection and isolation based on a generalized observer scheme (GOS). Numerical simulations are presented to show the performance and applicability of the proposed method.

Sensor Fault Diagnosis Observer for an Electric Vehicle Modeled as a Takagi-Sugeno System