Observer-based robust fault detection for a class of multirate sampled-data linear systems

We investigate observer-based robust fault detection for a class of multirate sampled-data linear systems. We assume that all plant inputs are updated at a unique rate and that plant outputs are sampled at integer multiples of the input sampling period. We construct a state observer and a residual generator as in the single rate case. We show that residuals can be decoupled from noise and disturbances