Fig. 1. The physical diagram of the FSM

Fig. 2. Diagram of the two-axis FSM system considering coupling effects

Fig. 3. FSM experimental platform based on dSPACE

Fig. 4. Comparison of frequency responses between the identified model and the real systems

Fig. 5. Simulation model of the fault observer

Fig. 6. The principle diagram of the FSM fault observer

Fig. 7. The residuals of angle calculated by the Riccati when the sensor malfunctions

Fig. 8. The evaluation function and threshold calculated by the Riccati when the sensor malfunctions

Fig. 9. The residuals of angle calculated by the LMI when the sensor malfunctions

Fig. 10. The evaluation function and threshold by the LMI when the sensor malfunctions

Fig. 11. The residuals of angle calculated by the Riccati when both the sensor and the actuator malfunction

Fig. 12. The evaluation function and threshold by the Riccati when both the sensor and the actuator malfunction

Fig. 13. The residuals of angle calculated by the LMI when both the sensor and the actuator malfunction

Fig. 14. The evaluation function and threshold by the LMI when both the sensor and the actuator malfunction

Fig. 15. Fault block diagram of the FSM system

Fig. 16. When both the actuator and sensor malfunction simultaneously, the experimentally obtained Riccati-based deflection angle residual

Fig. 17. When both the actuator and sensor malfunction simultaneously, the experimentally obtained Riccati-based evaluation function and threshold

Fig. 18. When both the actuator and sensor malfunction simultaneously, the experimentally obtained LMI-based deflection angle residual

Fig. 19. When both the actuator and sensor malfunction simultaneously, the experimentally obtained LMI-based evaluation function and threshold.