Robust fault detection using a consistency-based state estimation test considering unknown but bounded noise and parametric uncertainty

In this paper, the problem of robust fault detection considering process/measurement noises and parametric uncertainties is addressed using a consistency-based state estimation test. A set-membership state estimator based on propagating the uncertainty using zonotopes is proposed as means to check the consistency between model and measurements. Modeling uncertainty is represented by bounding model parameters in intervals. Process and measurement noise are also considered unknown but bounded. Finally, an example based on a linearised model of a flight control system is proposed to validate the proposed approach.