Fault detection and isolation in singular bilinear systems

Lack of timely fault detection by the user in sensitive systems, will cause damage and loss of significant amounts of resources and information. This paper presents the fault detection and isolation (FDI) in singular bilinear systems with unknown input disturbances and faults by using bilinear sliding mode observer. For this purpose, firstly, the singular bilinear system is decomposed and a sliding mode observer is proposed for this system. Then, a method is given for fault detection and isolation based on the given observer. Finally, simulation results for a flexible joint robot are given to demonstrate the effectiveness and capabilities of the proposed method.