Abstract
Geometric fault detection and isolation filters are known for having excellent fault isolation, fault reconstruction and sensitivity properties under small modeling uncertainty and noise. However they are assumed to be sensitive to model uncertainty and noise. This paper proposes a method to incorporate model uncertainty into the design. First, a geometric filter is designed on the nominal plant. Next a robust model matching problem is solved to design a post-filter that augments the performance of the geometric filter over the set of uncertain plants. The method is compared with the standard H∞ robust FDI filter design procedure, where the robustness and performance of the residual generation are solved in one step, but disturbance rejection and fault sensitivity are not decoupled from each other. Finally, an aircraft dynamics example is presented to detect and isolate aileron actuator faults to asses the performance of the different filter designs.
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