Actuator fault diagnosis for a class of bilinear systems with uncertainty (Q697809)

Bilinear systems of the form \[ \begin{aligned} \dot x(t) &= Ax(t)+ \sum^m_{i=1} A^i u_i(t) x(t)+ Bu(t)+ Ef_a(t)+ D\xi(t),\\ y(t) &= Cx(t)= [0\;I]x(t),\end{aligned} \] where \(f_a\) is a fault modelled as a disturbance input and \(\xi\) is an unknown vector. The fault detection and isolation problem for this system is solved by first writing the system in a canonical form in which a subsystem has no fault term. This subsystem is used to design an adaptive observer and a disturbance estimator. Using this observer and the second subsystem allows an estimate of the fault to be obtained (including its magnitude), assuming that no fault occurs in the initial transient of the observer. The ideas are applied to a vehicle suspension model.