Fault Diagnosis and Robust Safe-Parking
This chapter relaxes the assumption on the knowledge of the location and magnitude of the fault made in Chap. 5 and considers the problem of designing an integrated fault diagnosis and fault-handling framework to deal with actuator faults in nonlinear systems. A model-based fault diagnosis design is first proposed, which cannot only identify the failed actuator, but also estimate the fault magnitude. The efficacy of the integrated fault diagnosis and safe-parking framework is demonstrated through a chemical reactor example.