Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

L∞ interval observers design for actuator fault

detection of discrete-time linear switched systems

Ghassen Marouani1 ,Thach Ngoc Dinh2 ,Tarek Raı̈ssi2 , Shyam Kamal3

and Hassani Messaoud1

1 Research
Laboratory of Automatic Signal and Image Processing, (LARATSI)
National School of Engineers of Monastir, Tunisia
2 Conservatoire National des Arts et Métiers (CNAM), Cedric - Laetitia
3 The Department of Electrical Engineering, Indian Institute of Technology (BHU)

9th International Conference on Systems and Control (ICSC)

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Outline

1 Introduction
Switched systems
Interval Observers
Fault detection: An overview
2 Problem Formulation
3 Framer design
Augmented system
4 L∞ fault detection interval observer
5 Numerical Example
6 Conclusion

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Switched systems

Introduction

A switched systems represent a class of hybrid systems:

a finite number of continuous subsystems (modes).
a logical rule operates switching between subsystems.
Physical systems with switching features can be regarded as
switched systems:
power and electronics systems
automated highway systems
flight control systems
network control systems,...

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Switched systems

Introduction

A switched systems represent a class of hybrid systems:

a finite number of continuous subsystems (modes).
a logical rule operates switching between subsystems.
Physical systems with switching features can be regarded as
switched systems:
power and electronics systems
automated highway systems
flight control systems
network control systems,...

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Switched systems

Switched Systems: equation under the form,

ẋ(t) = fσ(t) (x(t), (u(t))

where one has N vectors field f1 , f2 , . . . , fN

Switching signal σ : R+ → {1, 2, . . . N}, N ∈ N
Interaction between the continous variable x and the discrete
varaible σ

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Switched systems

Switched Systems: equation under the form,

ẋ(t) = fσ(t) (x(t), (u(t))

where one has N vectors field f1 , f2 , . . . , fN

Switching signal σ : R+ → {1, 2, . . . N}, N ∈ N
Interaction between the continous variable x and the discrete
varaible σ

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Interval Observers

The problem of state vector estimation is very challenging and

can be encountered in many applications.
Several cases are encountred:
Models without uncertainties.
Models with uncertain parameters.
Uncertain parameters and unknown inputs
Possible Solutions
Adaptive approaches
Robust approaches
Set-membership estimation / Interval observers.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Interval Observers

The problem of state vector estimation is very challenging and

can be encountered in many applications.
Several cases are encountred:
Models without uncertainties.
Models with uncertain parameters.
Uncertain parameters and unknown inputs
Possible Solutions
Adaptive approaches
Robust approaches
Set-membership estimation / Interval observers.

Thach Ngoc Dinh ICSC 2021 5 / 33

Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Interval Observers

The problem of state vector estimation is very challenging and

can be encountered in many applications.
Several cases are encountred:
Models without uncertainties.
Models with uncertain parameters.
Uncertain parameters and unknown inputs
Possible Solutions
Adaptive approaches
Robust approaches
Set-membership estimation / Interval observers.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Interval Observers

Given a system described by:


ẋ(t) = f (x, u)
y (t) = h(x)

Definition
The dynamical system
(
ż(t) = α(z, y , u)
 T T T
x , x

is an interval observer for (1) if:

x(0) ≤ x(0) ≤ x(0) ⇒ −∞ < x(t) ≤ x(t) ≤ x(t) < +∞; ∀t ≥ 0.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Interval Observers

An interval observer:
compute the set of admissible values.
provide the lower and upper bounds of state vector.

Two conditions have to be verfied:

▶ Inclusion: x(t) ≤ x(t) ≤ x(t), ∀t0 ≥ 0
▶ Stability of estimation errors: e = x − x and e = x − x

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Many advances in Control Engineering but:

Systems do not render the services they were designed for.
Systems run out of control.
Energy and material waste, loss of production, damage the
environment, loss of humans lives

Thach Ngoc Dinh ICSC 2021 8 / 33

Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Many advances in Control Engineering but:

Systems do not render the services they were designed for.
Systems run out of control.
Energy and material waste, loss of production, damage the
environment, loss of humans lives

Thach Ngoc Dinh ICSC 2021 8 / 33

Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Many advances in Control Engineering but:

Systems do not render the services they were designed for.
Systems run out of control.
Energy and material waste, loss of production, damage the
environment, loss of humans lives
Malfunction causes:
Design errors, implementation errors, human operator errors,
wear, aging, environmental aggressions

Thach Ngoc Dinh ICSC 2021 8 / 33

Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Many advances in Control Engineering but:

Systems do not render the services they were designed for.
Systems run out of control.
Energy and material waste, loss of production, damage the
environment, loss of humans lives
Malfunction causes:
Design errors, implementation errors, human operator errors,
wear, aging, environmental aggressions
Solutions:

Thach Ngoc Dinh ICSC 2021 8 / 33

Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Many advances in Control Engineering but:

Systems do not render the services they were designed for.
Systems run out of control.
Energy and material waste, loss of production, damage the
environment, loss of humans lives
Malfunction causes:
Design errors, implementation errors, human operator errors,
wear, aging, environmental aggressions
Solutions:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Fault diagnosis:
Fault detection: Detect malfunctions in real time, as soon and
as surely as possible.
Fault isolation: Find the root cause, by isolating the system
component(s) whose operation mode is not nominal
Fault identification: to estimate the size and type or nature of
the fault
Fault detectability: to define residuals that are affected by the
faults, i.e., residuals that permit to detect faults:
Residual generation
Residual evaluation: several approaches:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Fault diagnosis:
Fault detection: Detect malfunctions in real time, as soon and
as surely as possible.
Fault isolation: Find the root cause, by isolating the system
component(s) whose operation mode is not nominal
Fault identification: to estimate the size and type or nature of
the fault
Fault detectability: to define residuals that are affected by the
faults, i.e., residuals that permit to detect faults:
Residual generation
Residual evaluation: several approaches:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Fault diagnosis:
Fault detection: Detect malfunctions in real time, as soon and
as surely as possible.
Fault isolation: Find the root cause, by isolating the system
component(s) whose operation mode is not nominal
Fault identification: to estimate the size and type or nature of
the fault
Fault detectability: to define residuals that are affected by the
faults, i.e., residuals that permit to detect faults:
Residual generation
Residual evaluation: several approaches:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault detection: An overview

Figure 1: Model based FDI methods

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Consider the following discrete-time linear switched system:


x(k + 1) = Aσk x(k) + Bσk u(k) + Fσk f (k) + Dσk ω(k),
(1)
y (k) = Cσk x(k) + v (k), σk ∈ 1, N, N ∈ N.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Consider the following discrete-time linear switched system:


x(k + 1) = Aσk x(k) + Bσk u(k) + Fσk f (k) + Dσk ω(k),
(1)
y (k) = Cσk x(k) + v (k), σk ∈ 1, N, N ∈ N.

x ∈ Rn : the state. ω ∈ Rn : the disturbances.

u ∈ Rm : the input. v ∈ Rp : the measurement noises.
y ∈ Rp : the output. f ∈ Rm : the actuator fault.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Consider the following discrete-time linear switched system:


x(k + 1) = Aσk x(k) + Bσk u(k) + Fσk f (k) + Dσk ω(k),
(1)
y (k) = Cσk x(k) + v (k), σk ∈ 1, N, N ∈ N.

x ∈ Rn : the state. ω ∈ Rn : the disturbances.

u ∈ Rm : the input. v ∈ Rp : the measurement noises.
y ∈ Rp : the output. f ∈ Rm : the actuator fault.

The objective : To design a fault detection interval observer that

is robust against disturbances and measurement noises.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The candidate: A new structure based on the introduction of

new matrices: T-N-L.
Why???
1 New structure providing more design degrees of freedom.
2 Relaxes the design conditions
Some assumptions are introduced
1 The switching signal σ(k) is assumed to be known.
2 The initial condition, the state disturbance and the noise
measurement are assumed to be bounded such that:

x 0 ≤ x(0) ≤ x 0 , ∀k ≥ 0,

ω ≤ ω(k) ≤ ω, ∀k ≥ 0,
v ≤ v (k) ≤ v , ∀k ≥ 0,
where x 0 , x 0 , ω ∈ Rn and v ∈ Rp are known vectors.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The stability is based on the following Lemma:

Lemma 1
Consider the discrete-time switched system
x(k + 1) = fσ(k) (ξ(k), η(k)), σ(k) ∈ 1, N. Suppose that there exists C 1
functions Vσ(k) : Rn −→ R+ , class K∞ functions α1 , α2 , γ and constants
0 < α < 1, µ ≥ 1 such that ∀ξ ∈ Rn , η ∈ Rl , we have

α1 (∥ξ∥) ≤ Vσ(k) (ξ) ≤ α2 (∥ξ∥), (2)

Vσ(k) (ξ(k + 1)) − Vσ(k) (ξ(k)) ≤ −αVσ(k) (ξ(k)) + ϱ(∥η∥), (3)

and for each switching instant kl , l = 0, 1 2, 3, . . .,

Vσ(kl ) (ξ(k)) ≤ µVσ(kl −1) (ξ(k)). (4)

Then the system x(k + 1) = fσ(k) (ξ(k), η(k)), σ(k) ∈ 1, N is

Input-to-State Stable (ISS) for any switching signal satisfying the average
dwell time.
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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The potential fault detection interval observer for the

switched system:


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)



= Cσ+k x(k) − Cσ−k x(k) + v − v

y (k)


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)




y (k) = Cσ+k x(k) − Cσ−k x(k) + v − v

(5)

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The potential fault detection interval observer for the

switched system:


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)



= Cσ+k x(k) − Cσ−k x(k) + v − v

y (k)


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)




y (k) = Cσ+k x(k) − Cσ−k x(k) + v − v

(5)

x(k): the upper estimate of x(k). y (k) the upper estimate of y (k).
x(k): the lower estimate of x(k). y (k) the lower estimate of y (k).

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The potential fault detection interval observer for the

switched system:


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)



= Cσ+k x(k) − Cσ−k x(k) + v − v

y (k)


 ξ(k + 1) = Tσk Aσk x(k) + Tσk Bσk u(k) + Lσk (y (k) − Cσk x(k)) + ∆
x(k) = ξ(k) + Nσk y (k)




y (k) = Cσ+k x(k) − Cσ−k x(k) + v − v


+ −
− −

(5)
∆ = (Tσk Dσk ) ω − (Tσk Dσk ) ω + L+ +
σk + Nσk v − Lσk + Nσk v

+ −
− −


∆ = (Tσk Dσk ) ω − (Tσk Dσk ) ω + L+ +
σk + Nσk v − Lσk + Nσk v

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Lσk : the observer gain associated to the σk -subsystem.

The matrices Tσk , Nσk are computed:

Tσk + Nσk C̃σk+1 =I (6)

The goal is to design a fault detection interval observer such

that:

x(k) ≤ x(k) ≤ x(k)

Let us define:
e(k) = x(k) − x(k). r (k) = y (k) − y (k).
e(k) = x(k) − x(k). r (k) = y (k) − y (k).

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The nonnegativity conditions: Framer design

Theorem 1:
Let given assumptions hold, the lower bound x(k) and upper
bound x(k) for the state x(k) given by (5) satisfy in the fault free
case (f (k) = 0, ∀k ∈ Z+ )

x(k) ≤ x(k) ≤ x(k), ∀k ∈ Z+ , (7)

if (6) holds and (Tσk Aσk − Lσk Cσk ) ≥ 0, ∀ σk ∈ 1, N provided that

x(0) ≤ x(0) ≤ x(0).

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Proof.
By calculating the upper and the lower estimate error(e and e)
dynamics, we get:

∆ + Lσk v (k) + Nσk v (k + 1) − Tσk Dσk ω(k) ≥ 0

−∆ − Lσk v (k) − Nσk v (k + 1) + Tσk Dσk ω(k) ≥ 0

From the fact that e(0) = x(0) − x(0) ≥ 0 and e(0) = x(0) − x(0) ≥ 0,
then x(k) ≤ x(k) ≤ x(k) holds ∀k ∈ Z+ , if (Tσk Aσk − Lσk Cσk ) ≥ 0. This
ends the proof.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Augmented system

Let introduce the following matrices:

   
∆ − Tσk Dσk ω(k) −∆ + Tσk Dσk ω(k)
Λ(k) =  v (k)  , Λ(k) =  −v (k) 
v (k + 1) −v (k + 1)

 
Θσk = I Lσk N σk

The residual signals can take the following form:

r (k) = Cσ+k e(k) + Cσ−k e(k) + v (k) + v − v


r (k) = −Cσ−k e(k) − Cσ+k e(k) + v (k) − v + v

A new augmented system is introduced as follows:


ẽ(k + 1) = Ãσk ẽ(k) + Θ̃σk Λ̃(k) + F̃σk f (k)
(8)
r˜(k) = C̃σk ẽ(k) + ν ṽ (k)

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Augmented system

 
e(k)  
ẽ(k) = Tσk Aσk − Lσk Cσk 0
e(k) Ãσk =
  0 Tσk Aσk − Lσk Cσk
r (k)  
r˜(k) = Θσ k 0
r (k) Θ̃σk =
  0 Θ σk
Λ(k)  
Λ̃(k) = −Tσk Fσk
Λ(k) F̃σk =
Tσk Fσk
 
v (k)
Cσ−k Cσ+k
   
I I −I
ṽ (k) =  v (k)  C̃σk = ,ν =
−Cσ+k −Cσ−k I −I I
v (k)

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The estimation error ẽ(k) can be split into three following

subsystems

ẽd (k + 1) = Ãσk ẽd (k) + Θ̃σk Λ̃(k)
r˜d (k) = C̃σk ẽd (k) + ν ṽ (k)

ẽfl (k + 1) = Ãσk ẽfl (k) + F̃σk fl (k)
r˜fl (k) = C̃σk ẽfl (k)

ẽfh (k + 1) = Ãσk ẽfh (k) + F̃σk fh (k)
r˜fh (k) = C̃σk ẽfh (k)
where fl (k) and fh (k) are respectively the low and high frequency parts of
the actuator fault f (k) such that f (k) = fl (k) + fh (k).
Remark
To make the fault sensitivity analysis in finite frequency rigorous in
theory, the actuator fault f is split into fl and fh , such approach allows to
handle the fact that the fault f may not exactly belong to the interested
frequency range.
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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

1 Evaluate the stability of ẽ(k) in the sense of Lemma 1 with

L∞ performance
2 Ensure the nonnegativity of matrices Tσk Aσk − Lσk Cσk

Theorem 2:
Assume that all assumptions of Theorem 1 hold. For given scalars
γ1 > 0, γ2 > 0 and 0 < α < 1, if there exist positive scalars
α2 > α1 > 0, ρ > 0, a positive definite matrix Pσk ∈ Rn×n and a
G1σk 0
diagonal matrix Gσk such that Gσk = ≻0,
0 G1σk
Wσk ∈ Rn×n , Rσk ∈ Rn×p and Hσk ∈ Rn×(n+p) such that
 
Υ1σk 0
Υσk = ≥0 (9)
0 Υ1σk

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Theorem 2:

 
(α − 1) Pσk 0 ⋆
 ⋆ −ρI ⋆ ⪯0 (10)
Υσk Ωσk Pσk T
− Gσk − Gσk

α1 I ≤ Pσk ≤ α2 I , ∀σk ∈ 1, N (11)

 
Wσl Pσk
⪰0 (12)
Pσk Pσk

C̃σTk C̃σk − γ12 Pσk C̃σTk ν

 
⪯0 (13)
ν T C̃σk −γ22 I + ν T ν

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Theorem 2:
with

Υ1σk = G1σk ξσ† k λ1 Aσk + Hσk ψσk λ1 Aσk − Rσk Cσk ≥ 0

 
G1σk Rσ k κσk 0 0 0
Ωσk =
0 0 0 G1σk Rσ k κσk

where

κσk = G1σk ξσ† k λ2 + Hσk ψσk λ2

     
I I 0
ξσk = , λ1 = , λ2 =
C̃σk+1 0 I

ψσk = I − ξσk ξσ† k , Wσl = µPσl , Rσk = G1σk Lσk ,

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Theorem 2:
and

Hσk = G1σk Sσk , ∀σk , σl ∈ 1, N

Then, (5) is a fault detection interval observer with an L∞ performance

for (1). Moreover, the fault detection interval observer gain matrices are
given
−1
Lσk = G1σk
Rσk , ∀σk ∈ 1, N.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Let us consider the discrete-time switched system (1) with three

modes (N = 3)and the following parameters:

   
0.05 0.05 0.05 1
A1 =  0.05 0.1 0.05  , B1 =  0.5  ,
0.05 0.05 0.15  0.7
 
  1 2
1 1 0
C1 = , D 1 =  2  , F1 =  1 
1 0 1
1 0

   
0.238 −0.119 0.119 0.4
A2 =  0 0.476 0.238  , B2 =  1.6 ,
0 0 0.119
  0 
  1 0
1.01 0 1
C2 = , D 2 =  0  , F2 =  1 
1 1 1
1.73 2

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

   
0.238 −0.119 0.119 0.1
A3 =  0 .2 −0.5  , B3 =  0.0 ,
0 0 0.2
  0.1 
  1 1
1 0 1
C3 = , D3 =  0.5  , F3 =  0 
0 1 1
1 1

The disturbances w (k) and the measurement noises v (k) are uniformly
 such that w ≤
bounded  w (k) ≤ w and v ≤ v (k) ≤ v with
w =  0.1 0.1 0.1  , w =  −0.1 −0.1 −0.1  ,
v= 0.02 0.02 and v = −0.02 −0.02 .

By solving the LMI conditions given in Theorem 2 where α = 0.7 and

α1 = 0.1, we get:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

 
0.8437 −0.0667 −0.0896
T1 =  0.0704 1.0305 0.0399  ,
−0.0659 −0.0274 0.9615
 
0.0667 0.0896
N1 =  −0.0305 −0.0399  ,
 
0.9901 0.0207 0.0108
0.0274 0.0385 T3 =  −0.0051 0.9192 −0.0858  ,
−0.0209 0.0375 1.0166
 
0.0099 −0.0207
 
1.2925 0.3769 0.2933
T2 =  −0.6751 0.1974 −0.6763  , N3 =  0.0051 0.0808  .
−0.0667 −0.0495 0.9334 0.0051 0.0808
 
0.0836 −0.3769
N2 =  −0.1263 0.8026  ,
0.0171 0.0495

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Two cases are discussed:

Fault free case
Faulty case:

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault free case

1 0 ∈ [r (k), r (k)] holds in the fault free case,
2 No fault affects the switched system.
20

15

10

-5

-10

-15
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

15

10

-5

-10

-15
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

Figure 2: Output and estimated bounds in the fault-free case

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Fault free case: 0 ∈ [r (k), r (k)]

1.5

The residual signal 0.5

-0.5

-1

-1.5

-2
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

2
The residual signal

-1

-2
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

Figure 3: The residiual signals and estimated bounds in the fault-free case

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

Faulty case

1.2, 32 < k ≤ 75,
We set f (k) =
0, otherwise.
We get:
6

The residual signal

3

-1

-2
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

The residual signal

4

-2
10 20 30 40 50 60 70 80 90 100 110 120
Time(s)

Figure 4: The residual signals and estimated bounds

0∈/ [r (k), r (k)] between k = 33 and k = 76.

The proposed fault detection interval observer successes to
detect the fault.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

An actuator fault detection interval observer design for

switched systems is presented.
Sufficient conditions for the stability of the interval observer
are derived in terms of LMIs.
A L∞ criterion has been applied.
The effectiveness of the proposed approachs are shown on a
numerical example.
Extensions to switched systems with unknown switching
instants can be considered for further studies.
Fault sensitivity performance analysis can be also expected.

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Introduction Problem Formulation Framer design L∞ fault detection interval observer Numerical Example Conclusion

The End

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