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A hybrid approach based on an integral observer and sliding-mode theory has been proposed in order to model sensor fault as a virtual actuator one. For the augmented model, the observer matching condition is not satisfied. To overcome this problem, a new method, which improves the design approach and enhances the rapidity of the fault estimation convergence, has been proposed. The fault estimation error effect is minimized by integrating the [Formula: see text] disturbance attenuation level. The proposed design is formulated and derived as a linear matrix inequality problem. Parameters of this observer are calculated through the linear matrix inequality technique. The proposed method has been validated through an example of a single-link manipulator robot. Simulation results show that this approach can estimate the state and the sensor fault successfully, despite the time-varying uncertainties and the presence of unknown inputs.<\/jats:p>","DOI":"10.1177\/0142331218791227","type":"journal-article","created":{"date-parts":[[2018,8,20]],"date-time":"2018-08-20T06:18:31Z","timestamp":1534745911000},"page":"1965-1974","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":12,"title":["Robust integral-observer-based fault estimation for Lipschitz nonlinear systems with time-varying uncertainties"],"prefix":"10.1177","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8964-8628","authenticated-orcid":false,"given":"Ammar","family":"Zemzemi","sequence":"first","affiliation":[{"name":"National School of Engineers of Sfax, 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