Threshold design for fault detection with first order sliding mode observers
T. Keijzer (TU Delft - Team Riccardo Ferrari)
Riccardo M.G. Ferrari (TU Delft - Team Riccardo Ferrari)
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Abstract
Sliding Mode Observer (SMO) based methods have been extensively used for Fault Estimation (FE). However, the fault detection (FD) problem for these SMO based FE methods has not been completely solved. In this paper a robust threshold on the so-called Equivalent Output Injection (EOI) is presented which enables FD for systems with measurement noise and unmatched uncertainties. This threshold is applicable to a large class of existing SMO based FE methods, and its applicability can easily be verified. Theoretical guarantees on the detection performance of this threshold are provided, and further demonstrated via a simulation study.
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