Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: System layout of an ESP system [3]

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Bicycle model

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Comparison of linear and nonlinear model with changing vehicle speed

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: SMO-based FDI scheme

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: The residual evaluator scheme

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: State transition after fault 2 being detected

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Command input of front steering angle and longitudinal speed of the vehicle

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation I results: residuals (absolute value) and corresponding thresholds

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation I results: fault types

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation II results: residuals (absolute value) and corresponding thresholds

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation II results: fault types

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation III results: residuals (absolute value) and corresponding thresholds

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation III results: fault types

Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System J. Dyn. Sys., Meas., Control. 2014;136(4):041026-041026-12. doi:10.1115/1.4026956 Figure Legend: Simulation results comparison: when tire cornering stiffness changes −35%