Applying parametric fault detection to a mechanical system

Author

Felício, Paulo ; Stoustrup, Jakob ; Niemann, Henrik ; Lourtie, Pedro

Author_Institution

Escola Superior de Tecnologia, Instituto Politecnico de Setubal, Portugal

Volume

6

fYear

2002

fDate

2002

Firstpage

4537

Abstract

A way of doing parametric fault detection is described. It is based on the representation of parameter changes as linear fractional transformations (LFT). We describe a model with parametric uncertainty. Then a stabilizing controller is chosen and its robustness properties are studied via mu. The parameter changes (faults) are estimated based on estimates of the fictitious signals that enter the delta block in the LFT. These signal estimators are designed by H_∞ techniques. The chosen example is an inverted pendulum.

Keywords

H^∞ control; control system analysis; fault location; parameter estimation; robust control; singular value decomposition; transforms; uncertain systems; H_∞ techniques; LFT; fault estimation; inverted pendulum; linear fractional transformations; mechanical system; parameter change estimation; parametric fault detection; parametric uncertainty; robustness; stabilizing controller; Automation; Control engineering; Control systems; Equations; Fault detection; Fault diagnosis; Fault tolerant systems; Mechanical systems; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2002. Proceedings of the 2002

ISSN

0743-1619

Print_ISBN

0-7803-7298-0

Type

conf

DOI

10.1109/ACC.2002.1025366

Filename

1025366