Fault Detection and Estimation for LTI Systems and its Application to a Lab Robotic Manipulator
作者单位：Delft Center for Systems and ControlDelft University of TechnologyDelft 2628 CDThe Netherlands
会议名称：《2009中国控制与决策会议》
会议日期：2009年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the research fund of Beijing InformationScience & Technology University
关 键 词：Fault Detection Fault Estimation GKYP lemma Finite frequency Robotic Manipulator
摘 要：正This paper addresses the fault detection and fault estimation issues for linear discrete time invariant（LTI） systems subject to unknown *** underlying problems are investigated based on the generalized KYP lemma in the finite frequency *** this paper,a new LMIs solution to the fault detection issue is proposed,which is slightly different from the available result and the set of LMIs are also simpler.A fault estimation method which focus on estimating the low frequency faults is also *** fault detection and fault estimation techniques are further applied to a lab robotic manipulator.