This paper deals with the robust fault detection problem in the finite frequency domain for a class of Lipschitz nonlinear systems with uncertain parameters. The design conditions of H?/L∞ fault detection observers are proposed. These conditions make the error estimation system stable, and the residual has L∞ disturbance attenuation performance for external disturbances and uncertain parameters. In addition, considering that fault occurs in the finite frequency domain, the residual also has H? fault sensitivity performance. To ease of solution, the observer design conditions are further transformed into linear matrix inequalities. On this basis, a dynamic threshold design method based on L∞ analysis is presented. Finally, simulation results demonstrate the superiority of the proposed method.
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