Title :
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
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;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025366
