Abstract
Starting from an examination of the existence of analytical redundancy, this paper provides a new approach to the definition and determination of detectability and isolability of faults in dynamic systems. The approach is based on an explicit decomposition of an extended matrix pencil containing all system matrices. The decomposition enables an easy check for detectability and isolability of faults and a straightforward design of the residual generator, in connection with the standard observer design. Three important classes of faults, component, actuator and sensor faults can be treated in a unified manner. The proposed design for fault detection and isolation observers is numerically reliable and has straightforward computer implementation. An illustrative example is included.
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