Modelling and observer-based fault detection for an automotive drive-train

Observer-based fault detection and modelling are considered for the drive-train of a Jaguar car with an automatic transmission. Test data is used for the modelling and use is made of nonlinear polynomials, where various structures are compared and assessed. A robust fault detection observer (RFDO), consisting of an observer which generates a residual, for the class of nonlinear models emerging from the modelling, is proposed consisting of polynomial nonlinearities up to degree three and a cubic term with respect to the state and input. The observer and the residual are decoupled from unknown inputs. Three fault scenarios are considered, each with a different set of measurements, to test the effectiveness of the RFDO design.