Design of integrated fault detection, diagnosis and reconfigurable control systems

In this paper, a novel approach for integrated fault detection, diagnosis and reconfigurable control systems design in the discrete-time stochastic domain is proposed. The scheme is based on a two-stage adaptive Kalman filter for simultaneous state and fault parameter estimation, statistical decisions for fault detection, diagnosis and activation of controller reconfiguration. Using the information provided by the fault detection and diagnosis scheme, the reconfigurable controller is designed automatically using an eigenstructure assignment technique. To eliminate the steady-state tracking error, a feedforward reconfigurable control law is also incorporated. The proposed approach has been evaluated using two examples. The effectiveness and superiority of the proposed approach have been demonstrated in comparison with existing reconfigurable controllers which are based on linear quadratic regulator and other eigenstructure assignment techniques.