Julien Marzat
Nonlinear FDI based on state derivatives, as provided by inertial measurement units
8th IFAC NOLCOS, Bologna, Italy,
september 1-3, 2010
Various strategies based on differential geometry or system inversion have been
proposed to deal with fault detection and isolation (FDI) for nonlinear systems. Many of
them require the computation of successive derivatives of inputs and outputs, which might
be unrealistic in practical applications where measurements su er noise and disturbances. In
this paper, we take advantage of the fact that, in domains such as aerospace or robotics, sensors
allow the measurement of first-order derivatives of state variables. This information, along with
the redundancy provided by the control module can be used to generate residuals. Such a
procedure is proposed and applied to a generic 2D aeronautical case study.
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