Analytic redundancy relations for state affine systems

Fault detection for linear systems has been mainly investigated through residual generation, robustness and sensitivity problems, identification and detection of changes. Concerning nonlinear systems it has been mainly developed for bilinear systems and through nonlinear observers. Little attention has been paid to parity space methods concerning nonlinear systems. Considering the class of dynamical systems which are polynomial in the input (such a class includes bilinear systems), we provide complete analytic calculations of the redundancy relations.