The nullspace method - a unifying paradigm to fault detection

The nullspace method is a powerful framework to solve the synthesis problem of fault detection filters in the most general setting. It is also well suited to address the least order synthesis problem. In the same time, the nullspace method represents an unifying paradigm for several methods, because popular approaches like parity space or observer based methods can be interpreted as special classes of nullspace method. The main differences among different methods lie in the numerical properties of the underlying computational algorithms.