Abstract
In this paper, the fundamental problem of residual generation is studied. The solution of this problem is the first step for the solution of the fault detection problem. Here, a class of nonlinear perturbed input-affine system is considered. The technique proposed is based on two steps: the first one consists of decoupling the perturbation with respect to the fault by using the technique of output injection; and the second one consists of fault detection by logic decision. A nonlinear observer with linearizable estimated error dynamics decoupled from the input and the disturbance is used as a residual generator. An illustrative example is presented.
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