Actuator outage fault detection for linear uncertain servo systems with nonzero bounded reference input

This paper studies the fault detection problem for linear uncertain systems with actuator outage faults. A state feedback controller and a detection weighting matrix are designed simultaneously, through which the closed-loop system is stabilized for both fault-free and actuator outage cases, and the actuator outage faults can be detected through the residual signal generated by recombining system states with the detection weighting matrix. Additionally, a set of isolation weighting matrices are designed to identify the locations of the actuators that are of outage, each corresponding to a particular actuator. A numerical example is given to illustrate the effectiveness of the proposed methods.