Abstract
When parity equations are designed ad hoc., the low frequency gain of the fault-to-residual transfer function can become low or even zero which is highly undesirable. As a solution, a systematic design procedure, utilizing the freedom available in residual generator design, is proposed. The method is called residual shaping and guarantees reasonable performance. It is used together with RLS to form an adaptive residual generator, which is important to handle e.g. aging. The RLS algorithm also makes it possible to differentiate between additive and multiplicative faults. The proposed FDI system is evaluated on a DC-servo where the strengths of the system is illustrated.
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