Joint synthesis of fault detector and controller based on structure of two-degree-of-freedom control system

We propose a method for joint synthesis of a fault detector and controller based on the free parameters of the fault detector, controller and plant. By using such parametrization, the fault detector design and controller design are merged into one design problem harmoniously, and the plant uncertainty is handled naturally. Since our approach relies on the manipulation of block diagrams, there is a nice physical interpretation of the resulting structure. As an example, this design method is applied to the control of a three mass system