ABSTRACT
This chapter outlines the fundamental concepts of fault detection and diagnosis using analytical redundancy. It discusses the fundamentals of residual generation. The chapter describes the main residual enhancement techniques. It considers a simple two-section pipeline system. The chapter outlines detection properties, including disturbance decoupling, model error decoupling/robustness, noise propagation and fault sensitivity. It outlines isolation properties, structured or directional residuals. The basic idea of analytical redundancy is the comparison of the actual behavior of the monitored plant to the behavior predicted on the basis of a mathematical plant model. Also, the particular implementation method affects the computational complexity of the algorithm. The implementation of the residual generator may rely on the input-output system description, or on the equivalent state-space description. Additive faults and disturbances will be handled as unspecified deterministic functions of time. Modeling errors are errors or uncertainties in the parameters of the monitored system.
