Robust multiple-fault detection and isolation: a gradient flow approach

In this paper a novel solution to the fault detection and isolation observer design problem for LTI systems is presented. A gradient flow approach is proposed for synthesizing an optimal observer under eigenstructure assignment, which is robust against unstructured uncertainties. This is achieved by minimizing the spectral condition number of the observer eigenvector matrix. Convergence properties of the gradient flow solution are proved and its efficiency demonstrated via a numerical example.