Fault parameter estimation for hybrid systems using hybrid bond graph

In this paper, a Hybrid Bond Graph based fault estimation is developed to estimate faulty parameters. This estimation method is based on a set of unified equations called the Global Analytical Redundancy Relations (GARRs). The developed estimation technique estimates fault parameters that can be linearly or nonlinearly parameterized, and it is formulated as a nonlinear least-square problem. This method is able to estimate the value of the fault parameters of a complex hybrid system even when a mode change occurs after the fault occurrence. Simulation results show that the fault parameters can be estimated effectively using the proposed technique.