Design of a bilinear fault detection observer for singular bilinear systems
- Cite this article as:
- Wang, Z. & Zhang, H. J. Control Theory Appl. (2007) 5: 28. doi:10.1007/s11768-005-5062-3
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A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a bilinear fault detection observer is proposed for the decomposed system via an algebraic Riccati equation, and the domain of attraction of the state estimation error is estimated. A design procedure is presented to determine the fault detection threshold. A model of flexible joint robot is used to demonstrate the effectiveness of the proposed method.