A lifting technique is used to derive the lifted state-space model and an unknown input observer(UIO) is considered as FDF to generate residuals.

• 对于非均匀采样数据系统,首先利用提升技术推导出系统的提升状态空间模型,然后选用基于未知输入观测器的故障检测滤波器来作为残差产生器;