Fault diagnosis for switching system using Observer Kalman filter IDentification

In this paper we propose a strategy for fault detection and isolation without any fixed model of the system to be supervised. The proposed approach is based on the identification of the parameters characterizing the system without any a priori knowledge. Our contribution consists in developing a specific identification scheme that is insensitive to a certain type of faults. The identified parameters are then invariant to the presence of actuator or sensor faults. Thereafter, a fault estimation procedure is proposed in order to detect sensor or actuator faults. The paper ends with a simulation example which highlights the effectiveness of the proposed approach.