| Notation |
|
xix | |
|
Part I Introduction, basic concepts and preliminaries |
|
|
|
|
|
3 | (10) |
|
Basic concepts of fault diagnosis technique |
|
|
4 | (4) |
|
Historical development and some relevant issues |
|
|
8 | (3) |
|
|
|
11 | (2) |
|
Basic ideas, major issues and tools in the observer-based FDI framework |
|
|
13 | (8) |
|
On the observer-based residual generator framework |
|
|
13 | (1) |
|
Unknown input decoupling and fault isolation issues |
|
|
14 | (1) |
|
Robustness issues in the observer-based FDI framework |
|
|
15 | (2) |
|
On the parity space FDI framework |
|
|
17 | (1) |
|
Residual evaluation and threshold computation |
|
|
17 | (1) |
|
FDI system synthesis and design |
|
|
18 | (1) |
|
|
|
18 | (3) |
|
Modelling of technical systems |
|
|
21 | (30) |
|
Description of nominal system behavior |
|
|
22 | (1) |
|
Coprime factorization technique |
|
|
23 | (2) |
|
Representations of disturbed systems |
|
|
25 | (1) |
|
Representations of system models with model uncertainties |
|
|
25 | (2) |
|
|
|
27 | (3) |
|
Modelling of faults in closed loop feedback control systems |
|
|
30 | (1) |
|
|
|
31 | (18) |
|
Speed control of a DC motor |
|
|
31 | (3) |
|
Inverted pendulum control system |
|
|
34 | (4) |
|
|
|
38 | (4) |
|
Vehicle lateral dynamic system |
|
|
42 | (4) |
|
Electrohydraulic Servo-actuator |
|
|
46 | (3) |
|
|
|
49 | (2) |
|
Structural fault detectability, isolability and identifiability |
|
|
51 | (20) |
|
Structural fault detectability |
|
|
51 | (5) |
|
Excitations and sufficiently excited systems |
|
|
56 | (1) |
|
Structural fault isolability |
|
|
57 | (8) |
|
Concept of structural fault isolability |
|
|
57 | (1) |
|
Fault isolability conditions |
|
|
58 | (7) |
|
Structural fault identifiability |
|
|
65 | (2) |
|
|
|
67 | (4) |
|
Part II Residual generation |
|
|
|
Basic residual generation methods |
|
|
71 | (44) |
|
|
|
72 | (3) |
|
Residuals and parameterization of residual generators |
|
|
75 | (3) |
|
Problems related to residual generator design and implementation |
|
|
78 | (2) |
|
|
|
80 | (1) |
|
Diagnostic observer scheme |
|
|
81 | (16) |
|
Construction of diagnostic observer-based residual generators |
|
|
81 | (2) |
|
Characterization of solutions |
|
|
83 | (8) |
|
|
|
91 | (4) |
|
|
|
95 | (2) |
|
|
|
97 | (6) |
|
Construction of parity relation based residual generators |
|
|
98 | (2) |
|
Characterization of parity space |
|
|
100 | (2) |
|
|
|
102 | (1) |
|
Interconnections, comparison and some remarks |
|
|
103 | (11) |
|
Parity space approach and diagnostic observer |
|
|
103 | (4) |
|
Diagnostic observer and residual generator of general form |
|
|
107 | (3) |
|
Applications of the interconnections and some remarks |
|
|
110 | (2) |
|
|
|
112 | (2) |
|
|
|
114 | (1) |
|
Perfect unknown input decoupling |
|
|
115 | (46) |
|
|
|
115 | (2) |
|
Existence conditions of PUIDP |
|
|
117 | (8) |
|
A general existence condition |
|
|
117 | (1) |
|
A check condition via Rosenbrock system matrix |
|
|
118 | (2) |
|
Algebraic check conditions |
|
|
120 | (5) |
|
A frequency domain approach |
|
|
125 | (3) |
|
|
|
128 | (11) |
|
The eigenstructure assignment approach |
|
|
128 | (4) |
|
|
|
132 | (7) |
|
|
|
139 | (14) |
|
|
|
140 | (2) |
|
Unknown input observer approach |
|
|
142 | (5) |
|
A matrix pencil approach to the UIDO design |
|
|
147 | (3) |
|
A numerical approach to the UIDO design |
|
|
150 | (3) |
|
Unknown input parity space approach |
|
|
153 | (1) |
|
An alternative scheme - null matrix approach |
|
|
153 | (1) |
|
Minimum order residual generator |
|
|
154 | (5) |
|
Minimum order residual generator design by geometric approach |
|
|
154 | (2) |
|
|
|
156 | (3) |
|
|
|
159 | (2) |
|
Residual generation with enhanced robustness against unknown inputs |
|
|
161 | (86) |
|
Mathematical and control theoretical preliminaries |
|
|
162 | (12) |
|
|
|
163 | (2) |
|
|
|
165 | (3) |
|
Computation of H2 and H∞ norms |
|
|
168 | (1) |
|
Singular value decomposition |
|
|
169 | (1) |
|
Co-inner-outer factorization |
|
|
170 | (3) |
|
|
|
173 | (1) |
|
Essentials of the LMI technique |
|
|
173 | (1) |
|
Kalman filter based residual generation |
|
|
174 | (4) |
|
Approximation of UI-distribution matrix |
|
|
178 | (6) |
|
Approximation of matrices Ed, Fd |
|
|
178 | (2) |
|
Approximation of matrices Hd,s |
|
|
180 | (2) |
|
|
|
182 | (2) |
|
Robustness, fault sensitivity and performance indices |
|
|
184 | (3) |
|
Robustness and sensitivity |
|
|
184 | (1) |
|
Performance indices: robustness vs. sensitivity |
|
|
185 | (1) |
|
Relations between the performance indices |
|
|
186 | (1) |
|
Optimal selection of parity matrices and vectors |
|
|
187 | (14) |
|
Sf,+/Rd as performance index |
|
|
188 | (3) |
|
Sf,-/Rd as performance index |
|
|
191 | (2) |
|
JS-R as performance index |
|
|
193 | (2) |
|
Optimization performance and system order |
|
|
195 | (2) |
|
|
|
197 | (4) |
|
H∞ optimal fault identification scheme |
|
|
201 | (1) |
|
H2/H2 design of residual generators |
|
|
202 | (4) |
|
Relationship between H2/H2 design and optimal selection of parity vectors |
|
|
206 | (5) |
|
|
|
211 | (21) |
|
H2 to H2 trade-off design of FDF |
|
|
213 | (5) |
|
|
|
218 | (7) |
|
H2 to H- trade-off design of FDF |
|
|
225 | (2) |
|
H∞ to H- trade-off design of FDF |
|
|
227 | (2) |
|
An alternative H∞ to H-- trade-off design of FDF |
|
|
229 | (3) |
|
A brief summary and discussion |
|
|
232 | (1) |
|
|
|
232 | (6) |
|
Hi/H∞ index and problem formulation |
|
|
233 | (1) |
|
Hi/H∞ optimal design of FDF: the standard form |
|
|
234 | (3) |
|
Discrete time version of the unified solution |
|
|
237 | (1) |
|
The general form of the unified solution |
|
|
238 | (6) |
|
|
|
238 | (2) |
|
Generalization of the unified solution |
|
|
240 | (4) |
|
|
|
244 | (3) |
|
Residual generation with enhanced robustness against model uncertainties |
|
|
247 | (34) |
|
|
|
248 | (2) |
|
LMI aided computation for system bounds |
|
|
248 | (1) |
|
Stability of stochastically uncertain systems |
|
|
249 | (1) |
|
Transforming model uncertainties into unknown inputs |
|
|
250 | (2) |
|
Reference model strategies |
|
|
252 | (7) |
|
|
|
252 | (1) |
|
A reference model based solution for systems with norm bounded uncertainties |
|
|
252 | (7) |
|
Residual generation for systems with polytopic uncertainties |
|
|
259 | (6) |
|
The reference model scheme based scheme |
|
|
259 | (4) |
|
H_ to H∞ design formulation |
|
|
263 | (2) |
|
Residual generation for stochastically uncertain systems |
|
|
265 | (11) |
|
System dynamics and statistical properties |
|
|
266 | (1) |
|
Basic idea and problem formulation |
|
|
266 | (1) |
|
|
|
267 | (7) |
|
|
|
274 | (2) |
|
|
|
276 | (5) |
|
Part III Residual evaluation and threshold computation |
|
|
|
Norm based residual evaluation and threshold computation |
|
|
281 | (30) |
|
|
|
282 | (2) |
|
|
|
284 | (1) |
|
Some standard evaluation functions |
|
|
285 | (2) |
|
Basic ideas of threshold setting and problem formulation |
|
|
287 | (4) |
|
Dynamics of the residual generator |
|
|
288 | (1) |
|
Definitions of thresholds and problem formulation |
|
|
289 | (2) |
|
Computation of Jth, RMS, 2 |
|
|
291 | (6) |
|
Computation of Jth, RMS, 2 for the systems with the norm bounded uncertainty |
|
|
292 | (3) |
|
Computation of Jth, RMS, 2 for the systems with the polytopic uncertainty |
|
|
295 | (2) |
|
Computation of Jth, peak, peak |
|
|
297 | (5) |
|
Computation of Jth, peak, peak for the systems with the norm bounded uncertainty |
|
|
297 | (4) |
|
Computation of Jth, peak, peak for the systems with the polytopic uncertainty |
|
|
301 | (1) |
|
Computation of Jth, peak, 2 |
|
|
302 | (5) |
|
Computation of Jth, peak, 2 for the systems with the norm bounded uncertainty |
|
|
302 | (3) |
|
Computation of Jth, peak, 2 for the systems with the polytopic uncertainty |
|
|
305 | (2) |
|
|
|
307 | (3) |
|
|
|
310 | (1) |
|
Statistical methods based residual evaluation and threshold setting |
|
|
311 | (24) |
|
|
|
311 | (1) |
|
Elementary statistical methods |
|
|
312 | (8) |
|
|
|
312 | (2) |
|
Likelihood ratio and generalized likelihood ratio |
|
|
314 | (2) |
|
|
|
316 | (1) |
|
Detection of change in variance |
|
|
317 | (1) |
|
Aspects of on-line realization |
|
|
318 | (2) |
|
Criteria for threshold computation |
|
|
320 | (4) |
|
The Neyman-Pearson criterion |
|
|
320 | (1) |
|
Maximum a posteriori probability (MAP) criterion |
|
|
321 | (1) |
|
|
|
322 | (1) |
|
|
|
323 | (1) |
|
Application of GLR testing methods |
|
|
324 | (9) |
|
Kalman filter based fault detection |
|
|
324 | (6) |
|
Parity space based fault detection |
|
|
330 | (3) |
|
|
|
333 | (2) |
|
Integration of norm based and statistical methods |
|
|
335 | (34) |
|
Residual evaluation in stochastic systems with deterministic disturbances |
|
|
335 | (8) |
|
|
|
336 | (1) |
|
|
|
337 | (1) |
|
|
|
338 | (3) |
|
|
|
341 | (2) |
|
Residual evaluation scheme for stochastically uncertain systems |
|
|
343 | (13) |
|
|
|
343 | (2) |
|
Solution and design algorithms |
|
|
345 | (11) |
|
Probabilistic robustness technique aided threshold computation |
|
|
356 | (8) |
|
|
|
356 | (2) |
|
Outline of the basic idea |
|
|
358 | (1) |
|
LMIs needed for the solutions |
|
|
359 | (1) |
|
Problem solutions in the probabilistic framework |
|
|
360 | (2) |
|
|
|
362 | (2) |
|
|
|
364 | (1) |
|
|
|
364 | (5) |
|
Part IV Fault detection, isolation and identification schemes |
|
|
|
Integrated design of fault detection systems |
|
|
369 | (34) |
|
|
|
370 | (3) |
|
Maximization of fault detectability by a given FAR |
|
|
373 | (13) |
|
|
|
374 | (1) |
|
Essential form of the solution |
|
|
374 | (2) |
|
|
|
376 | (2) |
|
Interconnections and comparison |
|
|
378 | (4) |
|
|
|
382 | (4) |
|
Minimizing false alarm number by a given FDR |
|
|
386 | (12) |
|
|
|
387 | (1) |
|
Essential form of the solution |
|
|
388 | (2) |
|
|
|
390 | (1) |
|
|
|
391 | (2) |
|
Interpretation of the solutions and discussion |
|
|
393 | (3) |
|
|
|
396 | (2) |
|
On the application to stochastic systems |
|
|
398 | (1) |
|
Application to maximizing FDR by a given FAR |
|
|
398 | (1) |
|
Application to minimizing FAR by a given FDR |
|
|
399 | (1) |
|
|
|
399 | (4) |
|
|
|
403 | (38) |
|
|
|
404 | (6) |
|
Existence conditions for a perfect fault isolation |
|
|
404 | (2) |
|
PFIs and unknown input decoupling |
|
|
406 | (3) |
|
PFIs with unknown input decoupling (PFIUID) |
|
|
409 | (1) |
|
A frequency domain approach |
|
|
410 | (2) |
|
Fault isolation filter design |
|
|
412 | (14) |
|
A design approach based on the duality to decoupling control |
|
|
412 | (3) |
|
|
|
415 | (2) |
|
A generalized design approach |
|
|
417 | (9) |
|
An algebraic approach to fault isolation |
|
|
426 | (5) |
|
Fault isolation using a bank of residual generators |
|
|
431 | (7) |
|
The dedicated observer scheme (DOS) |
|
|
432 | (3) |
|
The generalized observer scheme (GOS) |
|
|
435 | (3) |
|
|
|
438 | (3) |
|
|
|
441 | (22) |
|
Fault identification filter and perfect fault identification |
|
|
442 | (3) |
|
FIF design with additional information |
|
|
445 | (3) |
|
On the optimal fault identification problem |
|
|
448 | (2) |
|
Study on the role of the weighting matrix |
|
|
450 | (6) |
|
Approaches to the design of FIF |
|
|
456 | (4) |
|
A general fault identification scheme |
|
|
456 | (1) |
|
An alternative fault detection scheme |
|
|
457 | (1) |
|
Identification of the size of a fault |
|
|
458 | (2) |
|
|
|
460 | (3) |
| References |
|
463 | (8) |
| Index |
|
471 | |
Lisainfo e-raamatute kohta