Abstract
Residual generation has been identified as a fundamental issue in model-based fault detection and isolation. To detect and isolate faults reliably, the residual signal has to satisfy certain fault detectability and isolability, and these essential properties have been re-examined in this paper. The paper also examines the modelling issue for the monitored system with possible sensor, actuator and component faults. The inverted pendulum system is used to illustrate the fault detectability discussed in the paper.
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