滑膜故障检测大牛Edwards的论文，发表于automatic期刊 Sliding mode observers for fault detection and isolation 非常详细的介绍了滑膜观测器

使用MVC结构和观察者模式，以图形化界面显示球体半径与面积，体积及球体示意图的关系。版本包括一个控制器和两个控制器的版本，文档包括源代码，需求分析，设计说明，测试用例。

间隔状态观测器在每个时间点对状态向量的允许值集合进行估计。 理想情况下，评估集的大小与模型不确定性成正比，因此，间隔观察者会生成具有估计误差范围的状态估计值，类似于Kalman滤波器，但要在确定性框架内进行。 本教程介绍了用于连续时间，离散时间和时滞系统的间隔观察器设计的主要工具和技术。

Sliding Mode Control and Observation Authors (view affiliations) Yuri ShtesselChristopher EdwardsLeonid FridmanArie Levant

Nonlinear Observers and Applications----一本经典的书籍。

详细介绍了状态观测器及其在控制系统中的应用。

Observers in Control Systems - A Practical GuideObservers in Control Systems ?..........................................Acknowledgments xi..............................................................Safety xiii..................................................................................1 Control Systems and the Role of Observers 1................1.1 Overview 1...................................................................................1.2 Preview of Observers 2...............................................................1.3 Summary of the Book 4...............................................................2 Control-System Background 5..........................................2.1 Control-System Structures 5.......................................................2.2 Goals of Control Systems 13.........................................................2.3 Visual ModelQ Simulation Environment 17...................................2.4 Software Experiments: Introduction to Visual ModelQ 18.............2.5 Exercises 39..................................................................................3 Review of the Frequency Domain 41..................................3.1 Overview of the s-Domain 41........................................................3.2 Overview of the z-Domain 54........................................................3.3 The Open-Loop Method 59...........................................................3.4 A Zone-Based Tuning Procedure 62.............................................3.5 Exercises 66..................................................................................4 The Luenberger Observer: Correcting SensorProblems 67.............................................................................4.1 What Is a Luenberger Observer? 67.............................................4.2 Experiments 4A-4C: Enhancing Stability with an Observer 72