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提出一种故障诊断方案。基于配置观测器的左或右特征结构向量实现动态交联项对残差影响的解耦，然后利用这些残差进行故障诊断，文中给出了若干定理及结论，最后举例说明该方法的可行性。
A fault diagnosis scheme is proposed. Based on the left or right eigenvector of the configuration observer, the influence of the dynamic cross-linking term on the residuals is decoupled, and then the residuals are used to diagnose the fault. Several theorems and conclusions are given in the paper. Finally, the feasibility of the method is illustrated. .