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By Prof. Dr. Mogens Blanke, Prof. Dr. Michel Kinnaert, Prof. Dr.-Ing. Jan Lunze, Prof. Dr. Marcel Staroswiecki (auth.)

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Extra resources for Diagnosis and Fault-Tolerant Control

Sample text

However, if the system is faulty, it generates a different output Y for the given input U. If the new I/O pair (U, Y) is represented by point C , which is outside of 8 then the fault is detectable. If the diagnostic algorithm compares the current performance of the system described by the I/O pair (U, Y) with the behaviour 8 of the faultless system, it can detect the occurrence of a fault. This is the principle of consistency-based diagnosis. The diagnostic method tests whether or not the measurement (U, Y) is consistent with the nominal system behaviour.

Such relationships are called constraints, and the time evolution of a variable is called its trajectory. The components are interconnected by energy or information flows. Energy flows characterise physical systems, which are called "process". Information flows characterise information and control systems. To illustrate these notions, consider for example a tank. "Storage", which is the function classically associated with it, refers to a special operating mode in which the input and the output flows are both equal to zero.

Ru Manual rudder demand Heading controller Disturbances L r 1 Ship 1/;, 1 1/; Track error e r-~ W3 etr,m Fig. 4. Cascaded architecture of controllers for ship steering. The innermost loop is manual steering with rudder demand as input. The second loop provides automatic heading control, the third implements automatic track control. Instrumentation. The ship motions and position are measured using dedicated sensors. The ship's heading is measured by some form of gyro compass, distance to a desired track is calculated from a position measurement, with the position measured by a GPS (Global Positioning System) receiver.

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