A zonotope-based fault detection method for switched systems with parameter uncertainties and multiple time delays

This paper studies fault detection for discrete-time switched systems with parameter uncertainties and time delays. First, a state augmentation method is presented to decouple the effect of time delays. Then, a novel residual generator structure based on priori state estimation is introduced, and the adaptive thresholds for residual evaluation are computed via zonotope techniques. Meanwhile, peak-to-peak performance and $H_{-}$ performance are adopted to design the residual generator, ensuring both uncertainty robustness and fault sensitivity. Finally, numerical simulation results are provided to demonstrate the effectiveness and superiority of the proposed method.