Abstract
This paper proposes a robust fault detection observer (RFDO) for a continuous non-linear system with polynomial non-linearities up to any finite degree. The observer error and residual are robust with respect to unknown inputs. Sufficient conditions are given, in an efficient algebraic compact form, for a RFDO (observer and residual) to exist. Useable results on detectablility conditions are proved. Numerical prodedures for the design of a RFDO and a sub-optimal RFDO (SORFDO) are given. The theory is illustrated with an application to a (benchmark) three-tank system. One linear and three non-linear models are considered with corresponding RDFOs (including a sub-optimal RFDO), and the performances of the corresponding residuals are compared under two initial conditions for a scenario consisting of a leak (fault) and a disturbance.
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