Optimal fault detection in a closed-loop framework: a joint approach

Abstract The work reported in this paper focuses on an optimal joint synthesis of control law and fault detection algorithm in the presence of model uncertainties. The method developed takes the interactions between control and diagnosis into account. A quadratic criterion combining both control and diagnosis aims is developed in a worst case situation according to model uncertainties and disturbances. The residual evaluation is carried out using a threshold based on an uncertain closed-loop framework. Finally, the joint synthesis is illustrated and compared to a sequential design of the algorithms through the application to an hydraulic process.

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