Integration of fault diagnosis and control based on residual decoupling

In this paper, an integrated framework for fault diagnosis and control is designed based on residual decoupling technology, which has fully considered the balance between the robustness of control system and the sensitivity of fault diagnosis system. To this end, the decoupling technology is first used for separation of fault and disturbance. Then, robust controller and fault-tolerant controller are designed for rejecting the system disturbance and guaranteeing the system performance, respectively. Finally, the application to three-tank system is given to demonstrate the performance and effectiveness of the proposed methods