Residual Generation for Fault Diagnosis of Systems Described by General Linear Differential-algebraic Equations
An algorithm for designing linear residual generators is presented. A
main result is that the algorithm is able to design residual
generators for any model described by general linear
differential-algebraic equations. Previous algorithms have been
restricted to models on transfer function, state space, or descriptor
form. The presented algorithm can handle all these types of models,
but also more general model descriptions not handled by previous
algorithms. This is important since more general linear
differential-algebraic equations models are often the result of
object-oriented equation-based modeling. Also included is an extension
to the stochastic case. Since the algorithm is based on well studied
algebraic manipulations of polynomial matrices, it will have good
numerical performance. The algorithm is demonstrated on a linearized
model of a three-link robot.
Erik Frisk and Mattias Nyberg
IFAC World Congress,
2002
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