Fast-rate residual generator based on multiple slow-rate sensors

This study puts forward the problem of fast-rate fault detection based on multiple slow-rate sensors. A fast-rate residual generator with casuality constraint is established from the multi-sensor model. Parameters of the residual generator are determined via disturbance-decoupling based on left eigenvector assignment. It is found that the condition of disturbance-decoupling is related to the multi-rate sensor sampling nature. A numerical example is given to illustrate the effectiveness of the proposed residual generator.