Adaptive Observer Based Fault Detection and
Isolation for Wind Turbines
Changling Li1 , Jing Teng1 , Taoran Yang1 , Yizhan Feng1
1
School of Control and Computer Engineering, North China Electric Power University, Beijing, China
Emil: lichangling@ncepu.edu.cn
Abstract—Fault diagnosis strategies are in high demand to
2020 Chinese Automation Congress (CAC) | 978-1-7281-7687-1/20/$31.00 ©2020 IEEE | DOI: 10.1109/CAC51589.2020.9327557
reduce the down-times and improve the reliability of wind
turbines. An adaptive observer method is proposed for fault
detection and isolation (FDI) of the wind turbine benchmark
model. Firstly, the state spaces of wind turbine subsystems are
remodeled according to the output values of sensors. Correspond-
ing adaptive observers are then designed to estimate subsystem
states and detect faults simultaneously. To speed up the fault
diagnosis process and to improve the precision, the fast adaptive
fault estimation (FAFE) algorithm is adopted in the adaptive
observers. Besides, a reduced-order model is introduced for the
drive train subsystem to eliminate the disturbance of unknown
aerodynamics. Simulation results illustrate that all the eight fault
types defined in the benchmark model of wind turbines can be
successfully detected.
Index Terms—Fault detection and isolation, adaptive observer
I. I NTRODUCTION
Fault detection methods can be classified into two types,
namely the data-based ones and the model-based ones. Data-
based methods rely on the analysis of measured process data
to detect faults [1]–[3]. Wang et al. integrated the ensemble
empirical mode decomposition (EEMD) with the independent
component analysis (ICA) to address the gearbox failure [1].
Intrinsic mode functions are obtained by EEMD and fed into
ICA to separate fault signal. The proposed method addressed
the problem of low signal-to-noise ratio in fault detection,
whose robustness requires further investigation. The reference
[2] used a Gibbs sampling algorithm based point indicator to
detect changes in time series of sensor measurements. These
changes provided fault information, which was then classified
into specific fault types by the Fuzzy/Bayesian network. In
the aspect of small sample classification problems, principal
component analysis (PCA) and support vector machine (SVM)
was utilized for fault diagnosis in [3]. Fault features were
extracted by the PCA and then used to train the SVM
classifiers. However, process data sometimes are difficult to
obtain, which are always affected by noises. The reliability of
data-based fault diagnosis methods reduced accordingly.
Unlike the data-based approaches, model-based methods
build dynamic system models with the initial states and the
control signals. Once the models are correctly constructed,
these methods can achieve fault diagnosis in real-time. There-
fore, model-based fault diagnosis approaches have received
more attention from the subsystem level to the whole system
level [4]. In the research field of wind turbines, the benchmark
978-1-7281-7687-1/20/$31.00 2020 IEEE
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
model is widely applied, which was proposed in [5], dealing
with wind turbines at the system level. The benchmark model
of wind turbine consists of four components: the blade & pitch
system, drive train, generator & converter, and controller. The
sensor faults, actuator faults, and system faults may occur
on these components, and they can be divided into eight
types according to the faulty position. Scholars have obtained
considerable achievements of FDI depend on the benchmark
model. For instance, an unknown input observer was designed
for sensor faults of drive train and converter in [6], where
uncertainties in the aerodynamic model were treated as un-
known inputs. Despite the successful detection of sensor faults,
the scheme failed to diagnosis the converter faults within the
required time. Joaquim Blesa designed an interval observer to
address the FDI problem of wind turbines in [7]. The observer
output values were bounded to intervals by model parameters.
According to the residuals of the outputs, the fault detection
is realized. Zhang [8] and Wu [9] independently proposed
sliding mode observers (SMO), where [8] denoted new states
to reconstruct the subsystems as augmented systems, and [9]
only considered the multiplicative failures of the pitch system.
Besides estimating the system state as other observers, the
adaptive observers can simultaneously track the changes of
faults. The estimated information can then be inputted to the
fault-tolerant controller. Researchers have proposed solutions
regarding different fault scripts of wind turbines by applying
adaptive observers. For example, the FDI scheme for the
doubly-fed induction generator based wind turbine system can
be referred to as [10]. The author considered the winding short
circuit fault, where the observer design process combined with
the wind turbines model was not introduced in detail. As for
the benchmark model, a multiplicative fault estimate scheme
was proposed to address the pitch actuator component fault
in [11]. The reference [12] presented an FDI method, and the
sensor faults were transformed as actuator faults, such that
the failures occur on the blade & pitch system and converter
can be diagnosed. Using adaptive observers for FDI has made
numerous research achievements, while the attempts to adopt
them for wind turbine models are limited. In addition, the
aforementioned literature only considered a few types of faults
in wind turbines. Therefore, we propose an adaptive observer
method based on the benchmark model in this paper. It can de-
tect all the eight faults that may occur in different components
of wind turbines. Besides, the fast adaptive fault estimation
(FAFE) algorithm proposed in [13] and [14] is adopted to
481
    
enhance the fault estimation performance. Furthermore, fault β̇ −2ζωn −ωn2
where xip = i is the state vector, Ap = ,
diagnosis of the drive train system is challenging due to the   βi 1 0
noise and disturbance in wind speed. As a result, the rotor 1  
Bp = , Cp = 0 ωn2 , βi is the pitch angle, β̇i is the
torque τr is unknown and hard to estimate. Therefore we 0
introduce a reduced-order system to simplify the estimation. angular speed, ζ is the damping factor and ωn denotes the
The subsequent parts of this paper are organized as follows. natural frequency.
The wind turbine benchmark model is briefly described in B. Drive Train Model
Section II. Section III introduces the FAFE algorithm, and the
The purpose of the drive train is to transfer torque from the
adaptive observer is presented in Section IV to achieve FDI.
rotor to the generator. The model can be represented by:
Section V shows the simulation results of all the eight fault ⎡ Bdt −Br
⎡ ⎤ −Kdt ⎤ ⎡ ⎤
scenarios. Conclusions are drawn in Section VI. − Jr N
Bdt
J Jr
ω̇r ⎢
g
η Bdt
r
⎥ ωr
− dt −B
II. B ENCHMARK M ODEL OVERVIEW ⎣ ω̇g ⎦ = ⎢ ηdt Bdt Ng2 g
ηdt Kdt ⎥ ⎣ ωg ⎦
⎣ N g Jg Jg N g Jg ⎦
The benchmark model of a wind turbine is depicted in Fig. θ̇Δ −1 θΔ
1 Ng 0
1. The wind turbine is constructed by four key components, ⎡1 ⎤
namely the blade & pitch system, drive train, generator & Jr 0  
τr (3)
converter, and controller. The arrows illustrate the relationships + ⎣ 0 − 1 ⎦ ,
Jg τg
among them. The vw denotes the wind speed acting on the 0 0
⎡ ⎤
turbine blades, which goes into the blade & pitch system.   ωr
The drive train converts the rotor torque τr and the generator 1 0 0 ⎣ ⎦
ydt = ωg ,
torque τg to the rotation speed of the rotor ωr and the rotation 0 1 0
θΔ
speed of generator ωg . The generator & converter uses the
where Jr is the moment of inertia of the low-speed shaft, Kdt
generator reference torque τg,r to get τg which is measured as
is the torsion stiffness of the drive train, Bdt is the viscous
τg,m . The power produced by the generator Pg can be obtained
friction of the high-speed shaft, Ng is the gear ratio, Jg is the
by combining τg and ωg . Controller is used to let Pg follow
moment of inertia of the high-speed shaft, ηdt is the efficiency
the reference power Pr . βr and τg,r are the pitch position
of drive train, and θΔ is the torsion angle of the drive train.
and generator torque reference. βm , ωr,m and ωg,m are the
measured pitch position, rotor speed and generator speed. C. Generator & Converter Model
Meanwhile, each component is measured with two sensors The generator & converter can be modeled as:
for physical redundancy requirements.
τ̇g = −αgc τg + αgc τg,r ,
(4)
y g = τg ,
where αgc denotes the generator and converter model param-
eter. The power produced by the generator is described as:
Pg = η g ω g τ g , (5)
where ηg denotes a constant representing the efficiency of the
generator.
D. Faults in the Benchmark Model
Fig. 1. The benchmark model overview.
The eight faults considered in the benchmark model are
listed in Table I. The sensor faults on the pitch position
A. Blade & Pitch System Model
measurements and the rotor speed measurement, both the
The blade & pitch system is a combination of the aerody- converter and pitch systems may occur actuator fault, and
namic and pitch model. The aerodynamic torque equation of system faults can be found on the drive train.
the wind turbine is modeled as follows:
ρπR3 Cq (λ(t), βi (t))vm (t)2 III. FAFE A LGORITHM
τr (t) = , (1) A. State Space Model
6
1≤i≤3
A linear system with actuator fault can be modeled by
where ρ is the air density, R is the radius of the blades, Cq is
the torque coefficient table, λ is the tip speed ratio, and βi is ẋ(t) = Ax(t) + Bu(t) + Ef (t),
(6)
the corresponding pitch angels (i = 1, 2, 3). y(t) = Cx(t),
The hydraulic pitch system is modeled by a second-order
where x(t) ∈ Rn is the state vector, u(t) ∈ Rm is the input
close-loop dynamics:
vector, y(t) ∈ Rp is the output vector and f (t) ∈ Rr is the
x˙ip = Ap xi + Bp βri , actuator fault. A, B, C and E are constant real matrices of
(2)
ypi = Cp xip , appropriate dimensions.

482

Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
 TABLE I C. FAFE Algorithm Description
FAULT IN THE BENCHMARK MODEL
The FAFE algorithm is introduced in this study to enhance
Fault No. Fault Faulty component Type the performance of fault estimation.
1 Sensor fault β1,m1 Fixed value For scalars σ > 0, μ > 0, if there exist a symmetric positive
2 Sensor fault β2,m2 Gain factor
3 Sensor fault β3,m1 Fixed value definite matrix P ∈ Rn×n , G ∈ Rr×r , such that the following
4 Sensor fault ωr,m1 Fixed value condition hold
5 System fault ωr,m2 , ωg,m1 Change dynamics E T P = F C, (14)
6 Actuator fault β2,m1 , β2,m2 Change dynamics  
7 Actuator fault β3,m1 , β3,m2 Change dynamics Φ − σ (A P E − C Y E)
1 T T T
< 0, (15)
8 Actuator fault τg Offset ∗ −2 σ1 E T P E + σμ
1
G
where Φ = P A+AT P −Y C−C T Y T , F ∈ Rr×p , Y ∈ Rn×p ,
The adaptive observer based on Eq. (6) is given by: Y = P L and ∗ denotes the symmetric elements in a symmetric
matrix, then the FAFE algorithm
˙
x̂(t) = Ax̂(t) + Bu(t) + E fˆ(t) − L(ŷ(t) − y(t)), ˙
(7) fˆ(t) = −ΓF (ey (t) + σ ėy (t)), (16)
ŷ(t) = C x̂(t),
can realize ex (t) and ey (t) uniformly ultimately bounded, the
where x̂(t) ∈ Rn is the observer state vector, fˆ(t) ∈ Rp is the
proof can be referred to [14].
estimation value of f (t), ŷ(t) ∈ Rp is the estimated output
The Eq. (16) can be expressed as following:
vector, L ∈ Rn×p is the gain matrix.  t
Denote fˆ(t) = −ΓF (ey (t) + σ ey (τ )dτ ). (17)
ex (t) = x̂(t) − x(t), tf

ey (t) = ŷ(t) − y(t), (8) Comparing the FAFE algorithm with the conventional one,
ˆ
ef (t) = f (t) − f (t), the FAFE algorithm combines the integral with the propor-
tional one. The introduction of the proportional term plays
then the error dynamics is described by a significant role in improving the performance of fault esti-
ėx (t) = (A − LC)ex (t) + Eef (t), mation. Furthermore, the algorithm can improve accuracy for
(9) both time-varying fault and constant fault estimation. We can
ey (t) = Cex (t).
take the conventional AFE algorithm as a particular case of
The purpose of the adaptive fault estimation (AFE) algo- the FAFE algorithm.
rithm is to obtain the fˆ(t) in Eq. (7).
IV. FDI S CHEME
B. Conventional AFE Algorithm
The FAFE algorithm is adopted in the design process of
The conventional AFE algorithm can be used to estimate the adaptive observer. The objective of FDI is realized by
the constant fault. If there exist a symmetric positive definite calculating the residuals, which are obtained by subtracting
matrix P ∈ Rn×n , such that the following conditions of hold the actual measurement from the observer estimate value. If
P (A − LC) + (A − LC)T P < 0, (10) the residual is around zero, it means that the system is healthy.
However, if the signal significantly deviates from zero, some
E T P = F C, (11) kinds of faults may occur in the wind turbines. Besides, we
where the matrix L ∈ R and F ∈ R
n×p r×p
. Then the added a transfer function block to make the faulty part and
conventional AFE algorithm algorithm fault-free part have a more noticeable difference.
˙ A. FDI Scheme for Blade & Pitch System
fˆ(t) = −ΓF ey (t), (12)
According to Eq. (2), the error resulting from the faults can
can realize limt→∞ ex (t) = 0 and limt→∞ ef (t) = 0, where
be described by:
the symmetric positive definite matrix Γ ∈ Rr×r is the
learning rate. Δβi,m = 0.5(βi,m1 + βi,m2 ) − βi , (18)
The fault estimate using the above method can be also
where Δβi,m represents the average faults over two sensor
expressed as:
 t measurements. Therefore, the blade & pitch system can be
model as the faulty form as following:
fˆ(t) = −ΓF ey (τ )dτ, (13)
tf ẋip = Ap xip + Bpi (βri + Δβi,m ),
(19)
where tf is the fault occurring time. ypi = Cp xip .
The accuracy of fault estimation influences the effect of the
adaptive observer. Although the conventional AFE algorithm Based on Eq. (19), the adaptive observer can be designed
guarantees that the fault estimation is unbiased, the estimation as:
result is not satisfactory, and it fails to deal with the time- x̂˙ ip = Ap x̂ip + Bpi βri + Bpi fˆp − L(ŷpi − ypi ),
(20)
varying fault. ŷpi = Cp xip ,

483

Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
         
ˆd
ẋ Ad 02×1 x̂d Bd1 Bd2
where L is the gain matrix which can be calculated by solving = + τg + ωr,m2
Eq. (14) and Eq. (15) using the LMI toolbox, and fˆp denotes żˆ2 Cd 0 ẑ2 0 0
⎡ ⎤
the estimated fault obtained by the FAFE algorithm. 0
The residual signals of two position sensores on pitch i are + ⎣0⎦ fˆd2 − L(ŷd2 − yd ), (24)
defined as ri,1 = |ŷpi −βi,m1 − fˆp |, and ri,2 = |ŷpi −βi,m2 − fˆp |. 1
 
According to the residual signals, whether the fault occurs and   x̂d
the faulty location can thus be determined. The FDI logic is ŷd2 = 0 0 1 ,
ẑ2
shown in Table II.
where ŷd1 and ŷd2 are the estimates of generator speed, L is the
TABLE II gain matrix obtained by Eq. (14) and Eq. (15), fˆd1 and fˆd2
B LADE & PITCH SYSTEM FDI LOGIC are the estimated fault.
Item Residual value Fault No. According to Eq. (5), the estimate of generator speed ωg
case 1 r1,1  0, r1,1 ≈ 0 fault 1 can be obtained as:
case 2 r2,2  0, r2,1 ≈ 0 fault 2 Pg
case 3 r3,1  0, r3,2 ≈ 0 fault 3
ω̂g = , (25)
ηg τ̂g
case 4 r2,1  0, r2,2  0 fault 6
case 5 r3,1  0, r3,2  0 fault 7 where τ̂g is the estimated generator torque which can be
obtained by the adaptive observer designed in the following
section. ω̂g is not affected by any fault, thus by comparing
B. FDI Scheme for Drive Train System the Eq. (25) and two observers designed by ωr,m1 and ωr,m2
Owing to he wind speed measurement is interfered by the separately, the failure of ωr can be reflected and the fault
wind shear and tower shadow, the rotor torque τr is hard to isolation can be achieved. Therefore, denote
estimate. However, according to the state-space model defined dŷd1
in Eq. (3), τr only directly affects ωr , and not related to ωg r4,1 = |ω̂g − − fˆd1 |, (26)
dτ
and θΔ . Therefore, the state-space model on the drive train
can be rewritten as the following reduced-order model: dŷ 2
r4,2 = |ω̂g − d − fˆd2 |, (27)
dτ
ẋd = Ad xd + Bd1 τg + Bd2 ωr ,
(21) dŷ 1 dŷ 2
yd = C d x d , where dτd and dτd are the derivative of ŷd1 and ŷd2 . Choosing
⎡ ηdt Bdt ⎤ r4,1 and r4,2 as the residuals to detect faults that occure on
  − N 2 −Bg
ωg η K the rotor torque. Fault isolation of generator speed can use
, Ad = ⎣ Ng Jg ⎦, Bd1 =
g dt d
where xd = Jg
r5,1 = |ω̂g − ωg,m1 | and r5,2 = |ω̂g − ωg,m2 | directly. Based
θΔ −1
0
 1 / 0 Ng on these residual signals, fault 4 and fault 5 can be detected
− Jg ηdt Bdt   as Table III:
, Bd2 = Ng Jg and Cd = 1 0 .
0 1
t TABLE III
Define a new state z = 0 ωg,m (τ )dτ , where ωg,m is the B LADE & PITCH SYSTEM FDI LOGIC
average of two measured generator speed from sensors. And
ż = Cd xd + Δωg,m , Δωg,m denotes the average generator Item Residual value Fault No.
case 1 r4,1  0 fault 4
speed sensor faults. The new stat space model contains the
case 2 r4,2  0, r5,1  0 fault 5
considered fualts can be described as:
        
ẋd Ad 02×1 xd Bd1 Bd2
= + τg + ωr
ż2 Cd 0 z2 0 0
⎡ ⎤ C. FDI Scheme for Generator & Converter System
0
Similar to the treatment method of the blade & pitch
+ ⎣0⎦ Δωg,m , (22)
system, and only one sensor is used in this subsystem, the
1
  measurement value τg,m and the faulty part Δτg,m thus can
  xd be expressed as following:
yd = 0 0 1 .
z2
τg,m = τg + Δτg,m . (28)
Based on Eq. (22), two adaptive observers of FDI on drive
train are designed, which ωr,m1 and ωr,m2 are used separately: The system can be remodeled as:
        
ˆd
ẋ Ad 02×1 x̂d Bd1 Bd2 τ̇g = −αgc τg + αgc (τg,r + Δτg,m ),
= + τ g + ωr,m1 (29)
żˆ2 Cd 0 ẑ2 0 0 yg = τg .
⎡ ⎤
0
Therefore, observer for the generator & converter system
+ ⎣0⎦ fˆd1 − L(ŷd1 − yd ), (23)
can be designed as:
1
  τ̂˙g = −αgc τ̂g + αgc τg,r + αgc fˆg − L(ŷg − yg ),
1
  x̂d
ŷd = 0 0 1 , (30)
ẑ2 ŷg = τg ,

484

Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
where L is the observer gain matrix and fˆg is the estimated modeling error, the residuals are close to 0 but not exactly
value of generator torque fault obtained by FAFE algorithm. equal to 0. According to the result, it can be deduced that
The residual is defined as r6 = |ŷg − τg,m − fˆ|, if r6 fault 1 occurred from the period 1000 to 1100s, and β1,m1
significantly deviates from zero, it proves that fault 8 occurred. occurred fixed value failure.
V. S IMULATION R ESULT
The effectiveness of the proposed FDI method of the wind
turbine is illustrated by simulation results in this section.
According to the considered fault that may occur in the
benchmark model, the failure value and generation time were
set as:
◦
• Fault 1: β1,m1 = 5 in the period from 1000 to 1100s.
• Fault 2: β2,m2 = 1.2β2,m2 in the period from 3400 to
3500s.
◦
• Fault 3: β3,m1 = 6 in the period from 2000 to 2100s.
Fig. 3. Case of fault 1 on pitch system 1.
• Fault 4: ωr,m1 = 3rad/s in the period from 1500 to
1600s.
Fig. 4 shows the residuals r2,1 and r2,2 on pitch 2 generated
• Fault 5: ωr,m2 = 2ωr,m2 and ωg,m1 = 0.9ωg,m1 in the
by simulation. According to that both two residuals divided
period from 1200 to 1300s.
from zero during 2700 to 2800s, it can be deduced that an
• Fault 6: parameters changed into ζ = 0.45 and ωn = 5.73
actuator fault occurs on pitch 2 within that time. The r2,2 also
in the period from 2700 to 2800s.
varying from other times during 3400 to 3500s, thus fault 2
• Fault 7: parameters changed into ζ = 0.9 and ωn = 3.42
occurred, and sensor 2 was faulty.
in the period from 3500 to 3600s.
• Fault 8: τg = τg + 1000N m in the period from 3800 to
3900s.
To compare the fault estimation effect between the con-
ventional AFE algorithm and the FAFE algorithm, we inject
three types of faults to β2,m1 , namely a fixed value fault from
2650 to 2660s, a gain factor fault from 2670 to 2780s, and
an actuator fault from 2690 to 2700s, respectively. The blue
lines represent the faulty output value in Fig. 2, the yellow
and red dashed lines illustrate the estimated values calculated
by the conventional AFE algorithm and the FAFE algorithm
respectively. The right part of Fig. 2 is the enlarged figure of Fig. 4. Case of fault 2 and fault 6 on pitch system 2.
the failure time. It can be seen that both of the two algorithms
can estimate the actual fault value successfully. However, the Two faults are considered on pitch 3. The residual signals
FAFE algorithm’s estimation speed and accuracy are higher r3,1 and r3,2 of pitch 3 are displayed in Fig. 5. r3,1 changes
than that of the conventional one, which effectively enhances abruptly from the period 2000 to 2100s, thus the fault 3
the performance of fault estimation. occurred and pitch position sensor 1 failure. Both r3,1 and r3,2
increase from 3500 to 3600s. Therefore, it can be inferred that
fault 7 occurred during that time.

Fig. 2. The fault output vaults of three conditions.

Fig. 3 illustrates the residual signals of FDI results on Fig. 5. Case of fault 3 and fault 7 on pitch system 3.
pitch 1. The residual r1,1 divided from zero during 1000 to
1100s obviously, while r1,2 remains around zero in the whole Fig. 6 shows the residuals r4,1 and r4,2 , and Fig. 7 shows
process. It should be noticed that, due to sensor noise and the residuals r5,1 and r5,2 on drive train system. It can be seen

485

Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
that r4,1 divided from zero from time period 1500 to 1600s.
During 1200 to 1300s, there is a significant difference both
for r4,2 and r5,1 , while r5,2 is close to zero from beginning to
end. According to the simulation results on the drive train, it
can be inferred that fault 4 occurred from 1500 to1600s, and
fault 5 occurred from 1200 to 1300s.
Fig. 6. Case of fault 4 and fault 5 on drive train.
Fig. 7. Case of fault 5 on drive train.
An offset fault is considered in the generator & converter
system. The residual r6 obtained by the proposed FDI scheme
is shown in Fig. 8. The residual signal suddenly increases at
3800s and restores normal at 3900s, and it can be deduced
that the system occurred fault 8 during this time.
Fig. 8. Case of fault 8 on generator & converter system.
VI. C ONCLUSIONS
An adaptive observer based FDI method for wind turbines
was proposed in this article. The eight types of faults that
occurred on the pitch system, drive train, generator & converter
system have been considered. The FAFE algorithm is adopted
486
Authorized licensed use limited to: San Francisco State Univ. Downloaded on June 19,2021 at 08:59:58 UTC from IEEE Xplore. Restrictions apply.
to effectively and accurately estimate the possible faults com-
pared to that of the conventional AFE algorithm. Besides,
the reduced-order model is utilized for the drive train, which
eliminates the challenging work to estimate the unknown
wind speed and aerodynamic rotor torque. Simulation results
illustrate that the proposed method can effectively detect
considered faults.
R EFERENCES
[1] J. Wang, R. X. Gao, and R. Yan, “Integration of eemd and ica for wind
turbine gearbox diagnosis,” Wind Energy, 2014.
[2] de Bessa.IV and Palhares.RM, “Data-driven fault detection and isolation
scheme for a wind turbine benchmark,” Renewable Energy, 2016.
[3] H. Yan, H. Mu, X. Yi, Y. Yang, and G. Chen, “Fault diagnosis of wind
turbine based on PCA and GSA-SVM,” in 2019 Prognostics and System
Health Management Conference (PHM-Paris). IEEE, may 2019.
[4] W. Chen, S. Ding, A. Haghani, A. Naik, A. Khan, and S. Yin, “Observer-
based FDI schemes for wind turbine benchmark,” IFAC Proceedings
Volumes, vol. 44, no. 1, pp. 7073–7078, jan 2011.
[5] P. F. Odgaard, J. Stoustrup, and M. Kinnaert, “Fault tolerant control
of wind turbines – a benchmark model,” IFAC Proceedings Volumes,
vol. 42, no. 8, pp. 155–160, 2009.
[6] P. F. Odgaard and J. Stoustrup, “Unknown input observer based detec-
tion of sensor faults in a wind turbine,” in 2010 IEEE International
Conference on Control Applications. IEEE, sep 2010.
[7] Blesa.J, Nejjari.F, Rotondo.D, and Puig.V, “Robust fault detection
and isolation of wind turbines using interval observers,” in 2013
2ND INTERNATIONAL CONFERENCE ON CONTROL AND FAULT-
TOLERANT SYSTEMS (SYSTOL), 2013.
[8] J. Zhang, O. Bennouna, A. K. Swain, and S. K. Nguang, “Detection and
isolation of sensor faults of wind turbines using sliding mode observers,”
in PROCEEDINGS OF 2013 INTERNATIONAL RENEWABLE AND
SUSTAINABLE ENERGY CONFERENCE (IRSEC), 2013.
[9] Wu.C, “Multiplicative fault estimation using sliding mode observer with
application,” in 2015 INTERNATIONAL CONFERENCE ON CONTROL,
AUTOMATION AND ROBOTICS ICCAR 2015, 2015.
[10] O. Awedni and L. Krichen, “Adaptive observer-based fault estimation
for a DFIG based wind turbine system,” in 2016 Eleventh International
Conference on Ecological Vehicles and Renewable Energies (EVER).
IEEE, apr 2016.
[11] F. Shi and R. J. Patton, “A robust adaptive approach to wind turbine pitch
actuator component fault estimation,” in 2014 UKACC International
Conference on Control (CONTROL). IEEE, jul 2014.
[12] A. Mokhtari and M. Belkhiri, “An adapative observer based FDI for
wind turbine benchmark model,” in 2016 8th International Conference
on Modelling, Identification and Control (ICMIC). IEEE, nov 2016.
[13] K. Zhang, B. Jiang, and C. V, “Adaptive observer-based fast fault
estimation,” International Journal Of Control Automation and Systems,
2008.
[14] K. Zhang, B. Jiang, and P. Shi, “Fast fault estimation and accommoda-
tion for dynamical systems,” IET Control Theory & Applications, vol. 3,
no. 2, pp. 189–199, feb 2009.