Abstract
The paper presents a robust fault diagnosis scheme for detecting and accommodating faults occurring in a class of nonlinear multi-input multi-output dynamical systems. Changes in the system dynamics due to a fault are modeled as nonlinear functions of the control input and state variables. The proposed fault accommodation scheme provides a way to augment the nominal controller such that the stability of the closed-loop system is retained in the presence of an unknown fault and of bounded disturbances. The stability of the robust fault accommodation scheme is rigorously established using Lyapunov redesign methods.
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