Robust and optimal control
High Performance Control
A parameterization of observer-based controllers: bumpless transfer by covariance interpolation
ACC'09 Proceedings of the 2009 conference on American Control Conference
Guaranteed Active Failure Detection and Isolation for Linear Dynamical Systems
Automatica (Journal of IFAC)
Auxiliary signal design for rapid multi-model identification using optimization
Automatica (Journal of IFAC)
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Two active fault diagnosis methods for additive or parametric faults are proposed. Both methods are based on controller reconfiguration rather than on requiring an exogenous excitation signal, as it is otherwise common in active fault diagnosis. For the first method, it is assumed that the system considered is controlled by an observer-based controller. The method is then based on a number of alternate observers, each designed to be sensitive to one or more additive faults. Periodically, the observer part of the controller is changed into the sequence of fault sensitive observers. This is done in a way that guarantees the continuity of transition and global stability using a recent result on observer parameterization. An illustrative example inspired by a field study of a drag racing vehicle is given. For the second method, an active fault diagnosis method for parametric faults is proposed. The method periodically adds a term to the controller that for a short period of time renders the system unstable if a fault has occurred, which facilitates rapid fault detection. An illustrative example is given.