Twin rotor fault diagnosis based on robust observer: An experimental study

This paper considers the fault detection problem of a twin rotor system. By using the GKYP lemma and LMIs, the fault detection robust observer is designed in a finite frequency domain, where the H_- index is applied to maximized the sensitivity of the observer to the fault. A model for the twin rotor is derived and an experimental study is carried out. Several sensor fault scenarios are investigated. The results show that the H_-/H_∞ robust observer can detect the considered faults successfully. It outperforms the H_-/H_∞ robust observer designed in the entire frequency domain.