On the Generation of an Optimally Robust Residual Signal for Systems with Structured Model Uncertainty

In this paper, the recently developed. parametric design for observer gain matrices is used to formulate an optimally robust residual signal for fault diagnosis in systems with structured model uncertainty. Using the available free parameters inside observer gain matrix and with a proper choice of performance function, it is shown that a residual signal can be obtained which is insensitive to the model uncertainty and sensitive to the faults of the system. A simulation for a fifth order system is carried out and good results are obtained.