Observer-Based Residual Generation for Linear Differential-Algebraic Equation Systems
Residual generation for linear differential-algebraic systems is considered. A new
systematic method for observer-based residual generation is presented. The proposed design
method places no restrictions on the system to be diagnosed. If the fault of interest can be
detected in the system, the output from the design method is a residual generator in statespace
form that is sensitive to the fault of interest. The method is iterative and relies only
on constant matrix operations such as multiplications, null-space calculations and equivalence
transformations, and thereby straightforward to implement. An illustrative numerical example is
included, where the design method is applied to a non-observable model of a robot manipulator.
Carl Svärd and Mattias Nyberg
IFAC World Congress,
2008
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