中文摘要：

控制系统中的传感器、执行器和被控对象的故障检测与诊断往往是把执行器和被控对象视为一个整体来研究，这不利于故障的决策与处理。对此，设计了非线性系统故障诊断的滑模观测器，提出一种诊断被控对象故障的方法，即对非线性系统和执行器同时进行观测，根据两观测器残差的变化情况判断出非线性系统中传感器、执行器和被控对象故障。最后以单输入单输出非线性系统为例进行仿真，验证了该方法的有效性。

英文摘要：

The actuator and component fault is always regarded as a whole for the fault detection and diagnosis in control systems, which does not favor the decision and processing. The sliding mode observer is designed for the nonlinear fault diagnosis and the method is proposed for the fault diagnosis of the component. The whole nonlinear system and the actuator system are simultaneously observed. The faults of the sensor, the actuator and the component are diagnosed according to the residual value changes of the two observers. Finally, the single-input single-output nonlinear system is simulated, which verifies the effectiveness of the proposed method.