A robust LPV fault detection approach using parametric eigenstructure assignment

In this paper, an eigenstructure assignment fault detection approach to linear time invariant (LTI) systems is extended to Linear Parameter Varying (LPV) systems. Fault detection filter design algorithms using eigenstructure assignment have been widely studied for LTI systems. However, LPV strategies are very useful for systems which have no unique equilibrium and are difficult to linearize. The parametric eigenstructure assignment approach is used to design an observer as a residual generator by viewing the varying parameters as fixed parameters in the design procedure. The residual observer feedback structure is implemented using a measured scheduling parameter An example is given of actuator fault detection of a two-link manipulator system.