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The design procedure combines the high robustness of the nonlinear unknown input observer with sliding-mode techniques in order to enhance the estimation qualities. The proposed design is derived and expressed as a linear matrix inequality optimization problem. Additionally, we have provided an approach to reduce conservatism in the derivation of the stability conditions. The effectiveness of this observer and the fault diagnosis scheme are shown by applying them to a single-link manipulator. Simulation results are presented to validate the proposed approach and show the robustness for the system nonlinearity and unmatched time-varying uncertainties. <\/jats:p>","DOI":"10.1177\/0142331217731621","type":"journal-article","created":{"date-parts":[[2017,11,1]],"date-time":"2017-11-01T20:12:36Z","timestamp":1509567156000},"page":"3696-3708","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["A new robust observer design for nonlinear systems with application to fault diagnosis"],"prefix":"10.1177","volume":"40","author":[{"given":"Ammar","family":"Zemzemi","sequence":"first","affiliation":[{"name":"National School of Engineers of Sfax, Tunisia"}]},{"given":"Mohamed","family":"Kamel","sequence":"additional","affiliation":[{"name":"Faculty of Sciences of Sfax Physics Department B.P. 802, 3038 Sfax, Tunisia"}]},{"given":"Ahmed","family":"Toumi","sequence":"additional","affiliation":[{"name":"National 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