On robust residual generation for fault detection in linear uncertain time delay systems

This paper investigates the design of robust fault detection filter (RFDF) for LTI systems with state delay considering unknown inputs and norm bounded uncertainties. A delayfree and uncertainty-free reference residual generator introduced based on Hi/H∞ performance index. It is optimal in the sense that it compensates the effects of time delay, ensures sensitivity to faults and robustness against disturbances. Then the RFDF is designed based on H∞ model matching technique and results are expressed as LMIs. Benchmark example of Jacketed Continuous Stirred Tank Reactor (JCSTR) is simulated for abrupt as well as incipient faults to present the effectiveness of the proposed algorithm.