A practical design for a robust fault detection and isolation system

Based on a development for the unknown input observer (UIO) design, this paper presents a straightforward method of designing a robust fault detection and isolation (FDI) system for uncertain systems with unknown inputs. By exploiting the properties of a nominal model structure, we form a basic sec of residuals which is independent of the unknown input but is dependent on the measurements. Then, with this basic residual set, we append a dynamic weighting matrix to the residuals to increase the design freedom for meeting the required detection and isolation performance. Additionally, a generalized residual generator scheme (GRGS) is proposed to synthesize the parity relations for the isolation of faulty sensors in an uncertain system. The proposed strategy is verified through simulation studies performed on the control of a vertical take-off and landing (VTOL) aircraft in the vertical plane.