Nested Integrated Control and Diagnostic Filter Design

In this paper an extension of the integrated approach to the concept of nested structures is given. This extension allows to iteratively optimize the closed loop for control and diagnosis performance. The advantage of the integrated approach is that the degradation of the diagnostic performance typically associated with changes in the controller is avoided. Furthermore, due to the iterative optimization possibility of the approach, the conflicting control and diagnostic objectives are optimally traded-off at each iteration.