In this chapter, we briefly review the advantages of employing dynamic observers in the structure of an integrated fault detection and control (IFDC) design problem. A mixed H₂/H_∞ formulation of the IFDC problem using dynamic observer for linear continuous-time systems is presented. Effectively, a single unit designated as detector/controller is designed where the detector is a dynamic observer and the controller is a state feedback controller based on the dynamic observer.

Chapter Contents:

• 2.1 Introduction
• 2.2 The problem statement and definitions
• 2.2.1 System model
• 2.2.2 Problem formulation
• 2.3 Integrated fault detection and control problem
• 2.3.1 Residual evaluation criterion
• 2.4 Case studies
• 2.4.1 Case study 1 (four-tank process)
• 2.4.2 Case study 2 [autonomous underwater vehicle (AUV)]
• 2.4.2.1 AUV modeling
• 2.4.2.2 The linearized model
• 2.4.2.3 Simulation results
• 2.5 Conclusion

Inspec keywords: observers; H2 control; state feedback; continuous time systems; control system synthesis; H∞ control; linear systems; fault diagnosis

Other keywords: mixed H₂-H_∞ formulation; IFDC design problem; linear continuous-time systems; integrated fault detection and control design; dynamic observer; state feedback controller; detector-controller design

Subjects: Simulation, modelling and identification; Optimal control; Control system analysis and synthesis methods; Linear control systems