Integrated design of fault diagnosis and accommodation schemes for a class of nonlinear systems

The paper presents an integrated methodology for detecting, isolating and accommodating faults in a class of nonlinear dynamical systems. A fault diagnosis module is used for fault detection and isolation. Based on the fault information obtained during the fault diagnosis procedure, a fault-tolerant control module is designed to compensate for the effects of faults. In the presence of a fault, a nominal controller guarantees the boundedness of all the system signals until the fault is detected. Then the controller is reconfigured after fault detection and after fault isolation, respectively, to improve the control performance using the fault information generated by the diagnosis module. Under certain assumptions, the stability of the closed-loop system is rigorously investigated