A robust detection scheme for a class of MIMO nonlinear systems

In this paper, a formulation of fault detection has been presented for a class of MIMO uncertain nonlinear systems. Under certain assumptions on the nonlinear dynamics of the system and its model uncertainty, a high-gain observer-based approach is established so as to construct an effective residual signal that can be used to perform the required fault detection. The proposed fault detection method is designed in constructive manner though a nontrivial combination of a recently developed high-gain observer, without resort to any linearization. A numerical example has been presented to illustrate the performance of the proposed fault-detection observer.