Alberto Isidori

Universita di Roma, Italy

A differential geometric approach to nonlinear fault isolation

We present in this lecture a differential-geometric approach to the problem of fault detection and isolation for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Such a distribution implies the existence of changes of coordinates in the state and in the output space which induce an ``observable" quotient subsystem unaffected by all fault signals but one. For this subsystem a fault detection filter can be designed.

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