Mode Tracking of Hybrid Systems in FDI Framework

A hybrid system combines continuous and discrete dynamics and runs with a set of modes. In we proposed an efficient health monitoring method for hybrid systems. This method utilizes unified constraint relations, named the global analytical redundancy relations (GARRs). Using GARRs for hybrid system health monitoring requires knowledge of the system´s mode which is provided by a mode tracker. GARRs represent global information (i.e. information relevant to all modes), and the hybrid system properties can be analyzed across system´s modes. In this paper, we utilize this unique feature to develop a GARRs based mode tracking approach. The most significant contribution of this development is the mode-change signature matrix, its derivation from the GARRs and its use for mode tracking.