Numerically reliable algorithm for the synthesis of linear fault detection and isolation filters, based on the geometric approach

The geometric approach to the study of fault detection and isolation filters (FDIF) for linear systems is first reviewed with emphasis on the resulting design procedure. On this basis, a numerically reliable algorithm to solve the so-called extension of the fundamental problem of residual generation (EFPRG) is presented. The same method can be used to design detection observers for linear systems with unknown inputs. An extension of the original approach allows one to handle any component failure, including sensor failures, while keeping directional residuals