Abstract
This work proposes a robust fault detection and isolation scheme for discrete-time systems subject to actuator faults, in which a bank of H-/ H∞ fault detection unknown input observers ( UIOs ) and a zonotopic threshold analysis strategy are considered. In observer design, finite-frequency H− index based on the generalized Kalman-Yakubovich-Popov lemma and H∞ technique are utilized to evaluate worst-case fault sensitivity and disturbance attenuation performance, respectively. The proposed H-/ H∞ fault detection observers are designed to be insensitive to the corresponding actuator fault only, but sensitive to others. Then, to overcome the weakness of predefining threshold for FDI decision-making, this work proposes a zonotopic threshold analysis method to evaluate the generated residuals. The FDI decision-making relies on the evaluation with a dynamical zonotopic threshold. Finally, numerical simulations are provided to show the feasibility of the proposed scheme.
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