Parasitic Dynamics Research Articles

The Nematodes Menace: A Review of Parasitic Species, Transmission Dynamics and Preventive Measures

This review offers a detailed examination of nematodes, directing specifically on gastrointestinal (GI) nematodes and their consequences for human health. Nematodes, commonly known as roundworms, demonstrate a highly heterogenous groups of multicellular organisms and are responsible for various diseases in humans, particularly in resource-limited settings. The paper explores different types of GI nematodes, their characteristics, symptoms, and transmission pathways, highlighting the significant impacts these parasites can have, such as malnutrition, anemia, and cognitive impairments. Additionally, the manuscript emphasizes the importance of prevention and control strategies, including proper sanitation, personal hygiene, and public awareness, in minimizing the spread of these infections. It discusses the role of anthelmintic medications as a vital part of treatment, while also advocating for a comprehensive approach that incorporates improved living conditions, access to clean water, and health education for effective long-term management of GI nematode infections. Ultimately, this work highlights the necessity for coordinated public health initiatives and ongoing research to alleviate the burdens of GI nematodes and improve health outcomes in at-risk populations.

Dasyrhynchus giganteus plerocercoids encysting in the musculature of Indian halibut (Psettodes erumei): seasonal prevalence, morpho-molecular characterization, and histopathological alterations

This study investigated the prevalence, morphology, molecular identification, and histopathological effects of larval tapeworms (plerocercoids) infecting the skeletal muscles of the Indian halibut (Psettodes erumei) collected from the coastal waters of the Arabian Gulf. Numerous oval or round blastocysts, measuring 13–26 mm, were found embedded within the muscular tissues of the Indian halibut, rendering the fish unsuitable for human consumption. Morphological and molecular analyses identified the plerocercoids as Dasyrhynchus giganteus (family Dasyrhynchidae), with an overall prevalence of 15.4%. The seasonal prevalence was the highest in summer (14.6%), followed by spring (10.6%), winter (4.4%), and autumn (3.5%). Infection rates increased with fish size. Histopathological examination revealed fibrous connective tissue capsules surrounding the larvae, causing muscular atrophy and degenerative changes, with few inflammatory eosinophilic cells. Molecular and phylogenetic analysis of the 28S rDNA gene sequences confirmed the specimens as D. giganteus, clustered closely with other sequences of D. giganteus with 100% bootstrap values. This study provided valuable insights into the parasitic infection dynamics, seasonal variation, molecular identification, and histopathological effects, highlighting the importance of monitoring fish for food safety and public health implications.

Diagnosis of Gastrointestinal Helminthiases Prevalent in Small Ruminants of Family Farm from Ceará-Brazil

This study aimed to perform a clinical and parasitological diagnosis of gastrointestinal Helminthiases and study some aspects of the parasitic dynamics in sheep and goat herds of family farming in Ceará-Brazil, aiming to contribute to the control of worms in these animals. For this, visits were made to family farms, and animals were evaluated, applied the Famacha exam, and examined the body condition score. In addition, fecal samples were collected directly from the rectal ampulla, always in the morning, from 10 goats and 36 sheep randomly within each category (young and adult). Subsequently, the samples were submitted to macroscopic examination and processing by routine methods in helminthology: EPG (number of eggs per gram of feces) and EOPG (number of eimeriid oocysts per grams of feces). The data were tabulated in a Microsoft Office Excel spreadsheet and expressed as arithmetic means and percentages. Of the total of 46 animals, 26 were positive for the presence of helminth, and 20 were negative for any gastrointestinal parasite. Strongyloidea and Eimeria were the most frequent, both in goats and sheep. In this study, it was observed that sheep had a higher frequency of animals positive for Strongyloidea eggs (58.3%) compared to goats (30%). In conclusion, the results showed that gastrointestinal Helminths are frequent in goat and sheep herds of the family farm of Ceará. The main gastrointestinal helminths that affect goats and sheep raised in these localities are Strongyloidea, as well as Eimeria oocysts.

Improvement of linearity in trap-rich substrates for radio frequency applications: Which of donor and acceptor trap is the best?

This paper investigates the effect of volume traps intentionally introduced into a silicon-on-insulator (SOI) substrate by inserting a layer of polysilicon beneath buried oxide. In radio frequency applications, this type of substrate, referred to as trap-rich, is known to considerably reduce the generation of harmonics resulting from the parasitic non-linear charge dynamics introduced by the substrate handler under the buried oxide. This analysis focuses on a test vehicle in the form of an integrated coplanar waveguide on two types of substrates, namely, high-resistivity SOI substrates with and without a trap-rich layer. From a modeling point of view, a simulation methodology is implemented in order to convert the 3D simulation of the coplanar waveguide into a 2D treatment that takes into account the wave propagation effect associated with the distributed nature of the transmission line. As a first step, this modeling strategy is implemented to reproduce the effect of increasing substrate resistivity on 2nd and 3rd harmonic reductions, leading to an excellent agreement with experimental data. Building on this validation of the simulation method, we have opted to simulate the non-linear response of the transmission line on the SOI trap-rich substrate by simplifying the trap distribution model. To avoid the adoption of unverified and strongly process-dependent trap distributions across the bandgap, a midgap monovalent trap density has been introduced, either acceptor or donor density. A monovalent density of acceptor traps with a concentration of 1016 cm−3 and a carrier lifetime of 0.1 ns has been shown to reproduce the experimental data very accurately with a substantial reduction in 2nd and 3rd harmonics. A detailed analysis of the displacement current waveforms explains the beneficial role of acceptor traps compared with donor traps.

A sea of change: Tracing parasitic dynamics through the past millennia in the northern Adriatic, Italy

Abstract Our study uses data from Holocene core samples and modern death assemblages to understand how human-induced environmental change in the northern Adriatic Sea (Italy) may have affected parasite-host dynamics in the economically important bivalve Chamelea gallina. Thirty-one radiocarbon dates confirm temporal distinctness between the periods before and after the onset of significant human influence and confirm that trematode prevalence has decreased by an order of magnitude over the past ~2 k.y. The median number of parasite-induced pits per bivalve host and parasite aggregation has also decreased significantly, signaling a substantial decrease in the effective population size of digenean trematodes. Gaussian finite mixture modeling of pit size does not support the hypothesis of parasite extinction. Combined, these results indicate the (potentially ongoing) collapse of parasite-host interactions in C. gallina in concert with human influence on the Adriatic and its transition to an “urban sea.”

On Stability of Homogeneous Systems in Presence of Parasitic Dynamics

In this paper, the effect of a homogeneous parasitic dynamics on the stability of a homogeneous system, when homogeneity degrees are possibly different, is studied via ISS approach in the framework of singular perturbations. Thus, the possibilities to reduce the order of the interconnected system considering only the reduced-order dynamics and neglecting the parasitic ones are examined. Proposed analysis discovers three kinds of stability in the behavior of such an interconnection by assuming that both, reduced-order and unforced parasitic dynamics, are globally asymptotically stable. In the first case, global asymptotic stability of the interconnection can be concluded, when the homogeneity degrees of both systems coincide and the singular perturbation parameter is small enough. In the second case, only local stability of interconnection can be ensured, when the homogeneity degree of reduced-order dynamics is greater than the homogeneity degrees of the parasitic ones. Helpfully, the proposed approach allows to estimate the domain of attraction for the system's trajectories as a function of the singular perturbation parameter. In the third case, only practical stability can be guaranteed, when the homogeneity degree of reduced-order dynamics is smaller than the homogeneity degrees of the parasitic ones. Additionally, the proposed approach provides an estimation of the asymptotic bound of the system's trajectories in terms of the singular perturbation parameter.

Learning for Precision Motion of an Interventional X-ray System: Add-on Physics-Guided Neural Network Feedforward Control

Tracking performance of physical-model-based feedforward control for interventional X-ray systems is limited by hard-to-model parasitic nonlinear dynamics, such as cable forces and nonlinear friction. In this paper, these nonlinear dynamics are compensated using a physics-guided neural network (PGNN), consisting of a physical model, embedding prior knowledge of the dynamics, in parallel with a neural network to learn hard-to-model dynamics. To ensure that the neural network learns only unmodelled Effects, the neural network output in the subspace spanned by the physical model is regularized via an orthogonal projection-based approach, resulting in complementary physical model and neural network contributions. The PGNN feedforward controller reduces the tracking error of an interventional X-ray system by a factor of 5 compared to an optimally tuned physical model, successfully compensating the unmodeled parasitic dynamics.

Fish-borne parasitic zoonoses transmission dynamics: The case of anisakiasis

Anisakiasis is a fish-borne parasitic disease that poses threat to human health and food safety, affecting peoples’ livelihood and the economy of countries. In this paper, a mathematical model for transmission dynamics of anisakiasis is formulated and analyzed. The analysis shows that both the disease free and endemic equilibria exist. To study the dynamics of anisakiasis, the basic reproduction number R0 is derived using the next generation matrix method. Lyapunov functions are used to assess the global stability of model equilibria. The disease free equilibrium is globally asymptotically stable whenever R0<1 and unstable otherwise whereas the endemic equilibrium is globally asymptotically stable whenever R0>1. The normalized forward sensitivity index is adopted to determine sensitivity indices of model parameters. The rate at which marine mammals release anisakid eggs η, recruitment rates for fish and crustaceans Λf and Λc, and their infection rates βf and βc respectively, and the rates at which marine mammals are recruited Λm and the rate at which susceptible marine mammals become carriers βm are the most positive sensitive parameters. The natural death rate for marine mammals μm is the most negative sensitive parameter suggesting that marine mammals drive anisakiasis. Control measures implemented to control anisakiasis using improved fish treatment reveal that the number of infected humans declines significantly with improved fish treatment giving sufficient anisakiasis control. Therefore, to control anisakiasis, more efforts should be directed towards improving fish treatment which involves the use of microwaving, heating, salting, freezing and use of anthelmintic drugs.

Analysis of chattering in homogenous sliding mode controllers using the locus of a perturbed relay system

AbstractThis work investigates the use of the locus of a perturbed relay system (LPRS) method for the analysis of chattering and other possible oscillations in discontinuous homogenous Sliding Mode Controllers (SMC). Particularly these homogeneous SMCs are considered as linear input‐to‐state and nonlinear separable state‐to‐output dynamics of Wiener type. The existence of non‐vanishing oscillations in these sliding mode control systems, when parasitic dynamics are present, is shown. This supports the claim that the finite‐time convergence for homogenous SMCs only occurs in the absence of any parasitic dynamics which is an ideal and non‐realizable condition. We investigate the chattering and other possible oscillations using the LPRS for the controllers proposed in the study by Ding et al. The undertaken analysis reveals multiple periodic solutions for the plants of relative degrees 2 through 4. The LPRS, originally developed for linear plants, is extended to linear input‐to‐state and nonlinear separable state‐to‐output dynamics. To investigate chattering, the parasitic dynamics are included in this analysis through a second‐order actuator model. The proposed approach to analysis provides exact values of the frequency and amplitude of chattering, as well as categorization of the obtained periodic solutions into orbitally stable and orbitally unstable. The analytical results are supported by simulations.

A Comparative Analysis of Computer-Aided Design Tools for Complex Power Electronics Systems

Companies working on semiconductors must currently assure the customers of not only the performance of the semiconductor device per se, but also its performance when it is implemented in a real board, therefore including the role of parasitic effects. It is therefore very important to evaluate, especially during the design phase, not only the single device, but the complete board and their mutual interactions. This consideration opens a new area of investigation in the field of electronic systems engineering. In the current literature, the problem of a software evaluation of parasitic dynamics and electromagnetic effects on printed boards is addressed from the point of view of researchers. Moreover, it is fundamental to have a complete view of the various tools that could be usefully adopted from the perspective of manufacturers. This is the main motivation of this technical note, which performs a comparative analysis of the most prominent software tools for printed circuit boards’ (PCBs) simulation. The main features, the key aspects, and the limitations of the software packages are analyzed in terms of the industrial design of power electronics devices, in order to ensure efficiency and fastness in the semiconductor market.

Rhipicephalus microplus seasonal dynamic in a Cerrado biome, Brazil: An update data considering the global warming

The present study evaluated over two years the seasonal dynamics of Rhipicephalus microplus in a Cerrado biome of midwestern Brazil (Goiânia, Goiás) and correlated the current climatic conditions (environmental temperature, insolation, rainfall, relative humitidy and saturation deficit of the atmosphere) of this site with 30 years ago. In addition, the data collected in the present research were compared with climatic conditions data and R. microplus population dynamics conducted by our group in other regions (Formiga, Minas Gerais and Jaboticabal, São Paulo) within the same biome. For the parasitic phase dynamics, R. microplus females (4.5–8.0 mm) counts were performed on tick natural infested cows kept in Panicum maximum paddocks. To verify the larvae dynamics on pasture the flannel dragg technique on natural infested pasture was performed, and the height of the grass was measured. Five peaks of engorged R. microplus females on animals and larvae infestations on pastures were observed. Being three and two peaks during the rainy and dry season of the year, respectively. Insolation (r = 0.8758; P = 0.00009; R² = 0.7670), rainfall (r = -0.8572; P = 0.0002; R² = 0.7348), maximum environmental temperature in summer (r = 0.9999; P < 0.0087; R² = 0.9988) and the saturation deficit of the atmosphere in autumn (r = -0.9789; P = 0.0211; R² = 0.9582) influenced the seasonal dynamics of R. microplus larvae on pastures. While the forage height did not influence the number of larvae found on pasture (r = 0.1545; P = 0.7682; R² = 0.0239). The comparison between the climatic data of the last 30 years with the current climatological data (2012 to 2019) in the state of Goiás, and the comparison with R. microplus population dynamics from other two locations in the same biome indicated that the increase of the environmental temperature due to the global warming possibly is a determining factor which increase the number of one or up two tick annual peaks. In addition, this climatic variable was responsible for increase the population density of ticks on pastures and animals observed in July/winter of the present study, in comparison to other regions with the same biome, as discussed in this work.

Design of a proportional integral derivative‐like continuous sliding mode controller

AbstractA describing function‐based design for the continuous sliding mode controller in the proportional integral derivative (PID) form (PID‐CSMC) is provided. Two sets of the PID‐CSMC gains are suggested. The Harmonic Balance is used to predict the amplitude and frequency of the main harmonic of chattering caused by the presence of fast‐parasitic dynamics in the closed‐loop. Predicted values of amplitude and frequency allow to compute the average power needed to maintain the trajectories of the system into real sliding modes. The methodology for selection of suboptimal PID‐CSMC gains consists of amplitude of chattering and average power minimization, taking into account the presence of a critically damped actuator parameterizing the effects of parasitic dynamics. A novel homogeneous Lyapunov function proves that suggested sets of the PID‐CSMC gains ensure, in theory, finite‐time stability of the perturbed double integrator without parasitic dynamics, and exact compensation of Lipschitz perturbations. On the other hand, the Loeb's criterion allows to ensure that the PID‐CSMC with suggested gains generates orbitally asymptotically stable fast‐oscillations in the presence of fast‐actuators.

Modelling seasonal patterns of larval fish parasitism in two northern nearshore areas in the Humboldt Current System

Macro- and micro-environmental factors modulate parasite loads in fish, determining parasitic abundances, diversity, and interaction dynamics. In this study, seasonal variations in larval ectoparasites on fish larvae in the northern Humboldt Current System (HCS) were evaluated using a delta-gamma generalized linear model to predict their occurrence frequencies. Fish larvae were collected from two nearshore areas during austral spring–summer and autumn–winter. Only five (of 38) larval fish species were parasitized by copepods: Gobiesox marmoratus, Ophiogobius jenynsi, Helcogrammoides cunninghami, Myxodes sp., and Auchenionchus crinitus. A binomial model showed that the presence/absence of parasitized fish larvae varied among the fish species and their larval abundances, while a positive delta-gamma model showed that ectoparasite frequency varied among the seasons and fish species. Seasonal variations in parasitized fish larvae frequency could be associated with host and parasite reproductive processes, which are related to oceanographic features responsible for larval retention and subsequent higher infestation probabilities. Host length was positively correlated with ectoparasite length, suggesting early infection and combined growth until the detachment of the ectoparasite. Our results suggest that infestation patterns in larval fish species can be identified using delta-gamma models and that they respond to local (retention) and high-scale (HCS) processes.

Characterization of microRNAs expressed in the cystic legion of the liver of Mus musculus perorally infected with Echinococcus multilocularis Nemuro strain.

Alveolar echinococcosis (AE) is a zoonosis caused by the metacestode of Echinococcus multilocularis. The published genome of E. multilocularis showed that approximately 86% of its genome is non-coding. Micro RNAs (miRNAs) are small non-coding regulatory RNAs, and recent studies on parasitic helminths expect miRNAs as a promising target for drug development and diagnostic markers. Prior to this study, only a few studies reported the E. multilocularis miRNA profiles in the intermediate host. The primary objective of this study was to characterize miRNA profiles via small RNA-seq in E. multilocularis Nemuro strain, a laboratory strain of Asian genotype, using mice perorally infected with the parasite eggs. The data were then compared with two previously published small RNA-seq data. We identified 44 mature miRNAs as E. multilocularis origin out of the 68 mature miRNA sequences registered in the miRNA database miRbase. The highest quantities of miRNAs detected were miR-10-5p, followed by bantam-3p, let-7-5p, miR-61-3p, and miR-71-5p. The top two most abundant miRNAs (miR-10-5p and bantam-3p) accounted for approximately 80.9% of the total parasite miRNAs. The highly expressed miRNA repertoire is mostly comparable to that obtained from the previous experiment using secondary echinococcosis created by an intraperitoneal administration of metacestodes. A detailed characterization and functional annotations of these shared miRNAs will lead to a better understanding of parasitic dynamics, which could provide a basis for the development of novel diagnostic and treatment methods for AE.

On phase deficit of the super‐twisting second‐order sliding mode control algorithm

SummaryThe notion of phase deficit was introduced in [12], which allows one to determine if a nonlinear system can reveal finite‐time or asymptotic convergence. Twisting and suboptimal second‐order sliding mode control algorithms and a conventional relay feedback system were analyzed from the perspective of the phase deficit. However, phase deficit for the super‐twisting algorithm was not determined at that time due to the complexity of the problem. Therefore, although it is known that the super‐twisting algorithm reveals finite‐time convergence (when no parasitic dynamics are present), it was not supported by the criterion based on the phase deficit. In the current article this problem has been solved through an open‐loop interpretation of the phase deficit, which is proposed in the article. Another problem addressed in the article is the relationship between the frequency characteristics of the system and the type of convergence (finite‐time or asymptotic). The mechanism of convergence is analyzed through considering time‐varying frequency of self‐excited oscillations and phase lag of the linear part of the system.

Identification of blood-feeding sources in Panstrongylus, Psammolestes, Rhodnius and Triatoma using amplicon-based next-generation sequencing

BackgroundTriatomines are hematophagous insects that play an important role as vectors of Trypanosoma cruzi, the causative agent of Chagas disease. These insects have adapted to multiple blood-feeding sources that can affect relevant aspects of their life-cycle and interactions, thereby influencing parasitic transmission dynamics. We conducted a characterization of the feeding sources of individuals from the primary circulating triatomine genera in Colombia using amplicon-based next-generation sequencing (NGS).MethodsWe used 42 triatomines collected in different departments of Colombia. DNA was extracted from the gut. The presence of T. cruzi was identified using real-time PCR, and discrete typing units (DTUs) were determined by conventional PCR. For blood-feeding source identification, PCR products of the vertebrate 12S rRNA gene were obtained and sequenced by next-generation sequencing (NGS). Blood-meal sources were inferred using blastn against a curated reference dataset containing the 12S rRNA sequences belonging to vertebrates with a distribution in South America that represent a potential feeding source for triatomine bugs. Mean and median comparison tests were performed to evaluate differences in triatomine blood-feeding sources, infection state, and geographical regions. Lastly, the inverse Simpsonʼs diversity index was calculated.ResultsThe overall frequency of T. cruzi infection was 83.3%. TcI was found as the most predominant DTU (65.7%). A total of 67 feeding sources were detected from the analyses of approximately 7 million reads. The predominant feeding source found was Homo sapiens (76.8%), followed by birds (10.5%), artiodactyls (4.4%), and non-human primates (3.9%). There were differences among numerous feeding sources of triatomines of different species. The diversity of feeding sources also differed depending on the presence of T. cruzi.ConclusionsTo the best of our knowledge, this is the first study to employ amplicon-based NGS of the 12S rRNA gene to depict blood-feeding sources of multiple triatomine species collected in different regions of Colombia. Our findings report a striking read diversity that has not been reported previously. This is a powerful approach to unravel transmission dynamics at microgeographical levels.

Data-driven extraction and composition of secondary dynamics in facial performance capture

Performance capture of expressive subjects, particularly facial performances acquired with high spatial resolution, will inevitably incorporate some fraction of motion that is due to inertial effects and dynamic overshoot due to ballistic motion. This is true in most natural capture environments where the actor is able to move freely during their performance, rather than being tethered to a fixed position. Normally these secondary dynamic effects are unwanted, as the captured facial performance is often retargeted to different head motion, and sometimes to completely different characters, and in both cases the captured dynamic effects should be removed and new secondary effects should be added. This paper advances the hypothesis that for a highly constrained elastic medium such as the human face, these secondary inertial effects are predominantly due to the motion of the underlying bony structures (cranium and mandible). Our work aims to compute and characterize the difference between the captured dynamic facial performance, and a speculative quasistatic variant of the same motion should the inertial effects have been absent. This is used to either subtract parasitic secondary dynamics that resulted from unintentional motion during capture, or compose such effects on top of a quasistatic performance to simulate a new dynamic motion of the actor's body and skull, either artist-prescribed or acquired via motion capture. We propose a data-driven technique that comprises complementary removal and synthesis networks for secondary dynamics in facial performance capture. We show how such a system can be effectively trained from a collection of acquired dynamic deformations under varying expressions where the actor induces rigid head motion from walking and running, as well as forced oscillatory body motion in a controlled setting by external actuators.

Robust autonomous flight for quadrotor UAV based on adaptive nonsingular fast terminal sliding mode control

This paper presents a robust adaptive nonlinear controller for a flying machine represented by a quadrotor UAV (Unmanned Aerial Vehicle) in the presence of parasitic dynamics. A hybrid control strategy is used to steer the quadrotor behavior and an online adaptive methodology is introduced to improve the robustness of the adopted control technique against unmodeled dynamics. On the basis of the Newtonian formalism, the system model is formulated and decoupled into two subsystems, a position and attitude subsystems. A new Adaptive Nonsingular Fast Terminal Sliding Mode Control (ANFTSMC) is adopted to steer the quadrotor flight attitude, and a robust Backstepping Sliding Mode Control (BSMC) is used to manage the quadrotor position, contributing fast-accurate tracking despite the impact of external disturbances. The design procedure for both controllers is described thoroughly and the closed-loop stability is proved by means of the lyapunov theory. Multiple flight tests were performed and comparison is done with the backstepping controller (BS), the integral sliding mode control (ISMC), the second order sliding mode control (2-SMC) and the global fast terminal sliding mode control (GFTSMC). Simulation results show marked improvements of the quadrotor behavior with enhanced convergence time, chattering-free control efforts and strong robustness to the parasitic dynamics.

Evolving granular control with high-gain observers for feedback linearizable nonlinear systems

Feedback linearization control is a simple and effective strategy whenever a faithful model of the system and its states are available. Feedback linearization may suffer from the mismatches between the model used in the design and the actual system due to e.g. uncertain parameter values, parasitic dynamics, or because of the impossibility to measure some states of the system. To aleviate such an issue, we suggest a novel robust adaptive control approach using the evolving participatory learning algorithm together with a high-gain observer. The robust evolving granular high-gain observers (RegHGO) controller is suitable to control nonlinear systems that can be input-output linearized by feedback. The approach is robust to modeling mismatches and does not require full state availability because, once the system is in a suitable canonical form, a high gain observer can be constructed to supply the state information required for control. The usefulness and efficacy of the approach is shown using a fan and plate system, and an DC motor driven angular arm-position control. The fan and plate evaluates the controller in a regulation process, and the angular arm position control evaluates reference tracking perfromance. In both cases, time-varying parameter uncertainties disturb the closed-loop control system. Both, qualitative and quantitative performance evaluation of the RegHGO controller are done. Additionally, we compare the performance of the RegHGO controller with well-established methods such as exact feedback linearization with high-gain state observer and extensions. The results show that robust evolving granular control with high-gain observers achieves better performance than its counterparts.

Fault tolerant control based on continuous twisting algorithms of a 3-DoF helicopter prototype

Fault tolerant controllers, based on the Continuous Twisting Algorithm (CTA), are designed for robust stabilization of a three-degree-of-freedom (3-DoF) helicopter prototype. Voltage variations (faults) in the actuators are detected and isolated by means of residual-based equations and exploiting the third-order sliding mode differentiator (SMD). Proposed fault detection and isolation (FDI) scheme is tested with intermittent and persistent faults induced by software. A unknown-input sliding mode observer (SMO) is developed to compare and highlight the performance of the proposed FDI-SMD respect to the classic FDI-SMO. Finally, simulations and real-time experiments confirm that CTA-based controllers counteract additive faults. Filtering the signals from residual equations is suggested in order to mitigate the effects of noises and neglected (parasitic) dynamics on the detectors.