Robust fault detection based on adaptive set observers

The paper deals with robust fault detection for nonlinear continuous-time systems based on a LPV transformation. The adaptive set observers technique is applied for joint state and parameter estimation in order to avoid the exponential complexity obstruction usually met in the set-membership nonlinear estimation. The obtained estimates on the sets of admissible values for the parameters and the state are used for interval residuals generation. The efficiency of the proposed approach is demonstrated on a numerical example.