A NEW APPROACH TO ROBUST FAULT-DETECTION AND IDENTIFICATION

A new methodology for instrument fault detection and identification (F DI) in linear dynamical systems subject to plant parameter variations or uncertainties is presented. At the heart of this approach is a robu st estimator for which the necessary and sufficient conditions to its existence are outlined. The robust estimator can simultaneously estima te the unmeasurable state variables of the system for the purpose of c ontrol, and provide necessary information for FDI purposes as well. A novel feature of this approach is that it can actually identify the sh ape and magnitude of the failures. The scheme allows for fast and accu rate FDI, and can account for structural uncertainties and variations in the parameters of the dynamical model of the system. The overall fa ult tolerant control system strategy proposed is verified through simu lation studies performed on the control of a vertical takeoff and land ing (VTOL) aircraft in the vertical plane.