A fault detection technique for dynamical systems

This paper shows how a functional observer can be utilized to detect faults in LTI MIMO systems. The fault detection technique is designed so that the functional observer based fault indicator asymptotically converges to a fault indicator that can be derived based on the nominal system. The asymptotic value of the proposed fault indicator is not dependent on the functional observer parameters; moreover, by choosing appropriate functional observer parameters the convergence rate of the fault indicator can be altered. Observability of the system is not a requirement for the design of the fault detection scheme.