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a r t i c l e i n f o abstract
Article history: The paper presents an online strategy for sensor and/or actuator fault detection and isolation applied to
Received 14 June 2012 a dam-gallery. A recursive subspace identification algorithm is used to estimate the dam-gallery model
Accepted 21 February 2013 parameters. The main contribution consists in developing a specific identification scheme, insensitive
Available online 22 March 2013
to a certain type of faults. That is, the identified parameters are invariant to the faults. A fault
Keywords: estimation procedure is proposed to detect potential faults. The proposed approach appears to be
System identification suitable for open channel systems for which the characteristics are not easily measurable.
Recursive subspace algorithm & 2013 Elsevier Ltd. All rights reserved.
Fault detection and isolation
Finite memory observer
Open-channel system
0967-0661/$ - see front matter & 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.conengprac.2013.02.013
798 A. Akhenak et al. / Control Engineering Practice 21 (2013) 797–806
for Fault Detection and Isolation (FDI) of sensors and actuators are computed according to physical laws if the geometry and
have been implemented on hydraulic systems. These approaches characteristics of the systems are known, or determined accord-
are suitable for increasing availability of the system and water ing to identification techniques if not. Whatever modelling
resources valorization (Bedjaoui & Weyer, 2011; Choy & Weyer, approaches are, it is necessary to validate and calibrate the
2005). In Bedjaoui and Weyer (2011), three model-based FDI obtained model with the real data. However, most of the existing
algorithms are proposed and compared in order to detect leak on identification algorithms or model calibration techniques do not
an operational irrigation channel. Even if analytical redundancy take into account potential sensor or actuator faults. In this paper,
methods have been recognized as powerful and effective techni- an online modelling algorithm is proposed to identify switching
ques for detecting faults, the generation of robust residuals is a system dynamics subject to sensor and actuator faults. A specific
critical issue because of the presence of unavoidable modelling application is focussed on the modelling and the supervision of a
uncertainties, process noise, parameter variations and non- dam-gallery which supplies two rivers with water contained in
linearities. It is also essential to characterize the operating modes the catchment area (see Fig. 1). It is composed of three parts
of the system to be supervised. Recently, in Le Pocher, Duviella, which correspond to three reaches characterized by circular
and Chuquet (2011), a data-driven approach, based on a classifi- profiles (see Fig. 2). The upstream part is a one kilometer long
cation tool, is proposed for the FDI of sensors of a real inland reach, the two downstream parts are hundred meters long
navigation channel. This channel has the particularities to have reaches. The operating range of the dam-gallery corresponds to
large scale dimension, without slope, with several inputs and a minimal discharge Q min ¼ 1 m3 =s and a maximal discharge
outputs, and thus difficult to model according to classical model- Q max ¼ 5 m3 =s. The system is also equipped with two measure-
ling methods. ment points located at each output of the gallery. The sensors
The main contribution is twofold: (i) the proposition of an allow the measurement of the two output discharges.
online model identification scheme in the presence of sensor and The dam-gallery is an open channel system whose dynamics
actuator faults, and (ii) the design of a FDI technique to isolate the are characterized by nonlinearities and time-varying delays.
faults. The open-channel system is possibly subjected to additive According to the literature (Litrico & Georges, 1999; Weyer,
constant sensor or actuator faults. Since the data available for 2001), dynamics of open channel systems can be modelled,
identification could be generated by the faulty system, the first around an operating point, by a second order plus transfer delay
step of our method consists in projecting the system equation function, or by a state-space model (Li, Cantoni, & Weyer, 2004;
onto a subspace that is orthogonal to the direction of the faults. Zaccarian, Li, Weyer, Cantoni, & Teel, 2007).
By doing so, the influence of the faults in the data is eliminated. However, these approaches require an accurate knowledge of
Therefore, subspace identification techniques can be used to the system characteristics, like geometric parameters, boundaries
compute the correct parameters of the model. Given the identi- conditions or friction coefficient, which are not easily measurable
fied parameters, two finite memory observers (Alessandri, in practice. An alternative consists in an online identification of
Baglietto, & Battistelli, 2005; Nuninger, Kratz, & Ragot, 1998) are the dynamics of hydraulic systems without major prior knowl-
proposed for estimating the faults (sensor and actuator) that may edge about the system characteristics. The proposed identification
be affecting the system. technique is based on the segmentation of the large operating
The whole proposed FDI strategy is implemented recursively.
Indeed, the recursive subspace identification can be regarded as a
Dam
tool for handling the problem of fault detection (Lovera, Parisini, &
Verghaegen, 2001; Oku, Nijsse, Verhaegen, & Verdult, 2001), espe- Gallery
cially when the system is slowly time-varying or multi-modal. With
this rather realistic problem in mind, a special recursive subspace
identification algorithm is worked out. It is insensitive to the
presence of actuator or sensor faults. The algorithm uses a recursive
orthogonal projection technique to compute the so-called observa-
tion vector (Gustafsson, 1997; Merce re, Lecoeuche, & Lovera, 2004)
from the input–output data. Given the observation vector, the Fig. 1. Dam-gallery open channel system.
Projection Approximation Subspace Tracking (PAST) algorithm of
Yang (1995) is called upon for updating the column space of the
extended observability matrix from which the system matrices are
computed. On the one hand, the resulting model is completely
decoupled from the effects of the faults and on the other hand,
it reflects possible evolutions in the actual system parameters. It can
hence be used for estimating more reliably the deviations caused by
the faults by discriminating between natural evolutions of the
system parameters and changes due to faults. In Section 2, the
problem statement of the dam-gallery supervision is presented.
The recursive subspace model identification procedure is detailed
in Section 3. In Section 4, the methods dedicated to the sensor
and actuator fault detection and isolation are presented. Finally,
Section 5 presents the application of the proposed tools to the
supervision of a dam-gallery.
2. Problem statement
range of the dam-gallery, i.e. ½Q min ,Q max , into several local operating
ranges, i.e. ½Q s,min ; Q s,max , with s A S where S ¼ f1, . . . ,Pg, with P
being the number of local models. Then, dynamics of each local
operating range are modelled by a local linear model whose state Fig. 3. Time scale showing the activation of the local model and the occurrence of
space representation with input delay is in the form (Palmor, 1996): sensor or actuator fault.
(
xt þ 1 ¼ As xt þ Bs utts þ vt
ð1Þ
yt ¼ C s xt þ wt According to Eq. (2), for each t A ½t n ; t n þ F1:
where matrices As, Bs and Cs are the parameters of the local model s, ya,t ¼ Ga xt þ Ha ðua,t þ ðja DuÞÞþ ðja DyÞ þ Za,t , ð5Þ
utts A Rnu is the input variable at time tts , xt A Rnx and yt A Rny where
represent the state and the output vector of the system at time t,
respectively. ts A N is the time delay supposed to be known and Ga ¼ ½ðCÞ> ðCAÞ> ðCAa1 Þ> > A Rany nx , ð6Þ
constant for the local model s. The process noise vt A Rnx and the 2 3
measurement noise wt A Rny are assumed to be white and uncorre- 0 0 0
lated with the input utts . 6 CB 0 07
6 7 an an
Ha ¼ 6 7AR y u, ð7Þ
The selection of the local model s is done according to the 4 ^ ^ & ^5
value of the input utts , i.e. the upstream discharge. Due to the CAa2 B CAa3 B 0
dynamics of open-channel systems, it is assumed that each local
model s is stable and active during a minimal time T. The system 2 3
0 0 0
order nx is also considered to be known and equal to 2. The 6 C 0 07
6 7 an an
numbers of inputs and outputs are respectively nu ¼1 and ny ¼2 in Ga ¼ 6 7AR y x: ð8Þ
4 ^ ^ & ^5
the case of the studied dam-gallery characterized as a SIMO
system. CAa2 CAa3 0
When sensor and actuator faults are considered, the state here refers to the Kronecker product (Brewer, 1978),
space representation (1) becomes Za,t ¼ Ga va,t þwa,t and
(
xt þ 1 ¼ As xt þ Bs ðutts þ Dutts Þ þvt ja ¼ ½1 1> A Ra : ð9Þ
ð2Þ
yt ¼ C s xt þ Dyt þwt
From Eq. (5), the subspace identification consists first, in
computing the column space of the extended observability matrix
where Dutts and Dyt are possible actuator and sensor faults and
Ga and then in deducing the system matrices. To this purpose,
are assumed to be unknown constant additive numbers.
Eq. (5) is stacked to form the data equation:
Based on an identification technique, a fault estimation pro-
cedure is proposed to detect and estimate online the sensor and Y a,t ¼ Ga X t þ Ha U a,t þ Na,t þ ðHa ðja DuÞ þ ðja DyÞÞj>
F, ð10Þ
actuator faults acting on the dam-gallery system. ny aF
where t ¼ t þ F1, Y a,t ¼ ½ya,t ya,t A R , X t ¼ ½xt xt A RF ,
nu aF ny aF
U a,t A R and N a,t A R are defined in a similar manner as
Y a,t , and jF is defined similarly as in (9). In order to identify the
3. Recursive subspace identification algorithm system matrices, it is necessary to eliminate explicitly the unknown
terms (the ones that contain Du and Dy). In this objective, let us
3.1. Subspace identification robust to faults define the projection matrix
where the symbol > refers to the matrix transposition, and a 4 nx . Y a,t ¼ Ga X t þ Ha U a,t þ Na,t P?
jF : ð14Þ
The order of the system nx is supposed to be available a priori.
The projection of (14) onto the orthogonal complement of the
Vectors va,t A Rnx a and wa,t A Rny a are defined similar to ya,t .
subspace spanned by the rows of U a,t is accomplished by post-
The local model is active and stable during a time interval T
multiplying Eq. (14) by the matrix P?
U
defined as
which begins at time tb and finishes at time tf. During T, actuator a,t
> >
or/and sensor faults Dutt and Dyt can occur at each time tn, with P?
U
¼ IF U a,t ðU a,t U a,t Þ1 U a,t : ð15Þ
a,t
t n A T. These faults are assumed to be constant on, at least, the
time window ½t n ; t n þ F þ a2 with F b a nu . This constraint Then
implies also that t n þ F þ a2 rt f , and Dutt ¼ Du and Dyt ¼ Dy
Y a,t P?
U
¼ Ga X t P?
U a,t
þ Na,t P? ?
jF PU : ð16Þ
on ½t n ; t n þF þ a2 (see Figure 3). a,t a,t
800 A. Akhenak et al. / Control Engineering Practice 21 (2013) 797–806
Hence, the identification problem boils down to the problem of input and output vectors ua,t and ya,t respectively
extracting the range space RðGa Þ of Ga from the noisy observation
matrix Z a,t :¼ Y a,t P? ¼ ½z a,t z a,t in this latter space. The whole 1 1 F t 1 1=2
U a,t u t ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi u~ a,t , y t ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi y~ a,t , rt ¼ :
identification algorithm can be summarized in two steps: F t ðF t 1Þ F t ðF t 1Þ Ft
derivation of these formulas can be found in the Appendix. From whose minimization leads to the PAST algorithm (Yang, 1995) for
the group of Eqs. (A.9), a simple change of notations leads to the recursively updating Oa,t :
following recursive algorithm. This latter is simpler to implement
and does not depend explicitly on F t . ht ¼ O>
a,t 1 z a,t ,
Lt 1 ht
Algorithm 1. Recursive update of the observation vector. qt ¼ ,
l þ h>
t Lt 1 ht
1
rt ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi Oa,t ¼ Oa,t 1 þðz a,t Ga ht Þq> ,
2r2t 1 t
pffiffiffi 1 >
u t ¼ rt ð lsu ðt1Þua,t Þ Lt ¼ ðLt 1 qt ht Lt 1 Þ, ð22Þ
l
pffiffiffi
y t ¼ rt ð lsy ðt1Þya,t Þ where Lt A Rnx nx and Oa,t A RFny nx are generally initialized at
pffiffiffi random. In principle, since Ga and Oa,t have the same column
l
z a,t ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ðy t Ryu ðt1ÞRuu ðt1Þu t Þ space, it is just set G^ a to be equal to O .
> a,t
l þ u t Ruu ðt 1Þu t Once G ^ a is available, the matrices A^ and C^ can be immediately
> extracted by exploiting the A-invariance property of Ga :
Ryu ðtÞ ¼ lRyu ðt1Þ þy t u t
! ^ m y G
^k
1
>
u t Ruu ðt1Þ A^ ¼ ½G a a and C^ ¼ G
^ a ð1 : ny , :Þ: ð23Þ
Ruu ðtÞ ¼ Ruu ðt1ÞRuu ðt1Þu t
^m¼G ^k¼G
l >
l þu t Ruu ðt1Þu t where G ^ a ð1 : ny ða1Þ, :Þ and G ^ a ðny þ1 : ny a, :Þ, (Matlab-
a y a
^
like notations), and G a is the pseudo-inverse of G ^ a: G^y ¼
su ðtÞ ¼ r2t su ðt1Þ þ ð1r2t Þua,t > > a
^ G^ 1 ^ ^ ^ ^
ðG a a Þ G a . Given A and C , the matrix B can be estimated by a
sy ðtÞ ¼ r2t sy ðt1Þ þ ð1r2t Þya,t linear regression (see e.g. Lovera et al., 2000 for more details).
1
In the original PAST algorithm, the noise symbolized by e a,t is assumed to be
The notations in Algorithm 1 are defined as follows: Ruu ðtÞ ¼ white. But this is not the case here so that a solution may be to use an
> >
ðU a,t U a,t Þ1 , Ryu ðtÞ ¼ Y a,t U a,t ; su ðtÞ and sy ðtÞ are the average of the instrumental variable (Ljung & Soderstrom, 1983).
A. Akhenak et al. / Control Engineering Practice 21 (2013) 797–806 801
4. Fault detection and isolation are considered faultless (Dy ¼ 0). Then the system (2) becomes
(
xt þ 1 ¼ Axt þBðut þ DuÞ þvt
The objective of this part is to detect the occurrence of sensor ð28Þ
yt ¼ Cxt þwt
and actuator faults, and to isolate them. The FDI technique which
is proposed consists in the generation of residuals that reflect the
The finite memory observer can be used for the estimation of the
faults acting on the system which is modelled by Eq. (2). An ideal
actuator faults by considering them as components of an aug-
residual signal should remain zero in the fault-free case and non-
mented state of the system. One considers that the actuator fault
zero when fault occurs.
is constant on the time window F þ a2 as defined in Section 3.1.
Based on the hypothesis that a fault is constant on the time
The augmented system can be written as follows:
window F þ a2 (see Section 3.1), the FDI technique is presented ( 0
for a single local model s. For the sake of clarity, in the following, xt þ 1 ¼ Ax0t þ But þ v0t ,
the index s will not be mentioned in the notation. ð29Þ
yt ¼ C x0t þ wt ,
where
4.1. Sensor fault detection and recognition
> > >
x0t ¼ ½x>t Du and v0t ¼ ½v>
t 0 ,
" # " #
In order to detect and estimate the sensor fault, the actuators A^ B^ B^
are considered faultless, i.e. Du ¼ 0. Then, the system (2) becomes A¼ , B¼ , C ¼ ½C^ 0,
0 I 0
(
xt þ 1 ¼ Axt þBut þvt ,
ð24Þ From this augmented system, which is assumed to be observable,
yt ¼ Cxt þ Dy þwt :
a finite memory observer of the form (26) can be designed for
cu is extracted as the last n compo-
estimating x0t from which D u
Given the identified matrices according to the method presented
nents of x0t .
in the previous section, the output of the system can be recon-
structed. The sensor fault indicator is designed as the difference
between the measured output yt and the output estimated y^ t
5. Online fault diagnosis of the dam-gallery
from the identified matrices. To compute y^ t , a finite memory
observer is used (Alessandri et al., 2005; Hocine et al., 2005). The
The proposed RSMI algorithm and FDI method are applied in
procedure is as follows. Note that the following approximation
the framework of the dam-gallery open channel system (see
holds:
Fig. 1) described in Section 2. The first stage consists in identifying
^ a x^ ta þ H
y^ a,ta ¼ G ^ a ua,ta : ð25Þ online the model of the system. To show the efficiency of the
RSMI algorithm, the dam-gallery is firstly modelled by the Saint-
Solving Eq. (25) for the state Venant partial differential equations, using the software SIC.2 This
^ y ðy ^ software leads to an accurate model of channels according to the
x^ ta ¼ G a a,ta H a ua,ta Þ: resolution of the Saint-Venant equations via a discretization
Then, the state at time t is approximated by the following scheme. SIC is extensively used by hydrographical network
equation, which is referred to as a finite memory observer managers as well as hydraulic and control engineers (Duviella,
Chiron, Charbonnaud, & Hurand, 2007; Duviella et al., 2011;
a
x^ t ¼ A^ x^ ta þ T^ a ua,ta Litrico et al., 2007; Lozano et al., 2012; Malaterre & Chateau,
a y
^a ^ y ^ 2007).
¼ A^ G
^ y ^
a a,ta þðT a A G a H a Þua,ta , ð26Þ
In what follows, the model built using the software SIC is used
a1 as a reference model. Then, based on the parameters identified by
where T^ a ¼ ½A^ B^ A^ B^ B.
^ Finally, the output is reconstructed
as the RSMI algorithm, the output-sensor and input-actuator faults
are estimated using the proposed FDI approach.
y^ t ¼ C^ x^ t :
And the residual vector is given by the following equation: 5.1. Dam-gallery dynamics identification
4
Reach 3.5
3
Reach
u
2.5
Dam Reach 2
y1
Table 1
Geometrical characteristics of the three reaches: radius R (m), slope J, Strickler 1.25
coefficient K and profile length X (m). 1
y2
3 0.75 0.1 70 300
1
0 6 12 18 24
Table 2 Time [h]
Dam-gallery downstream limiting conditions.
Fig. 5. (a) Upstream discharge u, (b) y1 and (c) y2 with SIC (continuous line) and
Q (m3/s) 0.507 1.02 1.496 2.02 2.53 3.03 RSMI (dashed line) downstream discharges.
y1 (m) 0.4 0.58 0.6 0.81 0.9 0.98
y2 (m) 0.54 0.72 0.84 0.95 1.04 1.12
0.2
0.15
Table 3 0.1
Definition of local models on operating range ½Q s min ; Q s max ½ depending on the
0.05
e1
pure delay ts .
0
Local model s ½Q min ; Q max ts ð:T e Þ −0.05
relative water level z (m) according to the discharge Q (m3/s). Due −0.05
to the geometrical characteristics of the system, the downstream −0.1
0 6 12 18 24
limiting conditions are denoted y1 for the first output at the end of
Time [h]
the reach 2 and y2 for the second output at the end of the reach 3
(see Fig. 4). The limiting conditions are given in Table 2. Fig. 6. Downstream discharge errors (a) e1 on y1 and (b) e2 on y2.
Due to its large operating range, i.e. [1, 5] m3/s, the dam-
gallery is considered as a switching system in the form (2) where
only one local model is active at any moment. Each local model is state estimation based on the observer (26). These shifts are
available on a local operating range (see Table 3). The number of increased during the switchings since mixed data resulting from
the local models is determined according to the discharges. various operating points are present in the sliding window a used
The transfer delays are supposed to be known, or estimated to identify the model parameters. The system dynamics are well
according to the method presented in Duviella et al. (2006). The identified, since the estimated outputs are very close to those
pure delays, which are expressed according to the sample time Te, from SIC.
are displayed in Table 3. The errors between the SIC and RSMI downstream discharges
The RSMI algorithm parameters have been chosen as a ¼ 8 for are computed as the difference between the two SIC and RSMI
the sliding window and l ¼ 0:8 for the forgetting factor. outputs, and depicted in Fig. 6. Around the operating points,
In order to evaluate the proposed online identification algo- i.e.2 m3/s and 3.8 m3/s, the errors on y1 and y2 are less than
rithm, the first scenario consists in a 24 h simulation with an 0.05 m3/s, i.e.2.5% (considering the discharge 2 m3/s). The max-
important setpoint modification (from 2 m3/s to 3.8 m3/s) and a imal errors are reached around the 10th hour during the switch-
random noise of variance equal to 0.01. Fig. 5 shows the upstream ing between the two operating points. They are such as
discharge u and the downstream discharges y1 and y2 from SIC in max e1 ¼ 0:14 m3 =s and max e2 ¼ 0:19 m3 =s, i.e.7% and 9% respec-
continuous line, and from the RSMI approach in dashed line. The tively. The maximal errors are attributed to the presence of mixed
RSMI outputs are obtained by using the identified parameters and data coming from the two operating points in the sliding window,
the finite memory observer (26). Slight shifts between the SIC and and to the different time delays considered for each operating
RSMI outputs could be seen in Fig. 5b and c. They are due to the point. The magnitudes of the system poles using the RSMI
A. Akhenak et al. / Control Engineering Practice 21 (2013) 797–806 803
algorithm are depicted in Fig. 7. The magnitude of the system pole (x-mark) to the zone corresponding to the real ones (point-mark).
eig1 (see Fig. 7a) is approximately equal to 0.5 for the first Poles (plus-mark) characterize the switching between the two
operating point around 2 m3/s, and to 0.1 for the second operating operating modes.
point around 3.8 m3/s. The second magnitude of the system pole
eig2 (see Fig. 7b) is close to 0.5 for the two operating points. At the
10th hour, when occurs the setpoint modification, the errors on
the magnitude of the system poles are large on a small time 5.2. Sensor fault detection and isolation
interval inferior to 10 min. Then, the magnitudes of the system
poles converge to their values corresponding to the second Based on the RSMI results, the FDI method is used to detect
operating point according to the evolution of the discharge (see and estimate the faults acting on the dam-gallery system. The
Fig. 5). Again, errors on magnitudes of the system pole at the 10th type of fault, its duration and its amplitude are estimated
hour are due to data coming from two different local models in according to the analysis of the residuals generated by the finite
the sliding window, and the different time delays. memory observer (25) and (26). The faults are assumed to be
Finally, the poles of the system are depicted in Fig. 8. Poles that constant. Moreover, an output-sensor fault does not exist at the
correspond to the operating point around 2 m3/s are complex same time as an input-actuator fault. The proposed scenario
conjugate and close to 0:4 70:2j (x-mark). Those that correspond consists in a 96 hours simulation with important setpoint mod-
to the operating point around 3.8 m3/s are real (point-mark). ifications (from 2 m3/s to 3.8 m3/s and from 3.8 m3/s to 1.4 m3/s)
During the switching between the two operating points, poles (see Fig. 9a), and two output-sensor faults. The output-sensor
(plus-mark) move from the zone corresponding to 0:4 70:2j fault Dy1 on y1 appears at the 24th hour with an amplitude of
0.5 m3/s and disappears at the 80th hour. The output-sensor fault
Dy2 on y2 appears at the 50th hour with an amplitude of 0.3 m3/s
and disappears also at the 80th hour. The RSMI algorithm para-
0.6
meters used are a ¼ 8 and l ¼ 0:8.
The downstream discharges y1 and y2 from SIC are depicted in
0.4 Fig. 9b and c in continuous line. These measured discharges are
eig1
0.3 4
0 6 12 18 24 3
u
Time [h] 2
1
Fig. 7. Magnitudes of the system poles (a) eig1 and (b) eig2.
2
y1
1 1
0
0.8
0.6
2
y2
1
0.4
0
0.2
0 1
0.5
r1
−0.2 0
−0.5
−0.4
−0.6 1
0
r2
−0.8
−1
0 12 24 36 48 60 72 84 96
−1
−1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1 Time [H]
Fig. 8. Unit circle with the poles for the operating point corresponding to 2 m3/s Fig. 9. (a) Upstream discharge u, SIC (continuous line) and RSMI (dashed
(x-mark), for the operating point corresponding to 3.8 m3/s (point), and for the line) downstream discharges (b) y1 and (c) y2, (d) residual r1 on y1 and
commutation between the two operating points (plus-mark). (e) residual r2 on y2.
804 A. Akhenak et al. / Control Engineering Practice 21 (2013) 797–806
2
1
insensitive to the sensor or actuator faults, the second stage of
this approach, consists in the fault detection and isolation using
the parameters identified in the first stage. The strategy of fault
2
localization depends on the element to supervise. The sensor
residual is computed by the comparison between the actual
y1
1
which corresponds to the actuator fault, after having rewritten
0 the identified model of the system in its augmented form.
This approach is applied for the online parameters identifica-
tion and diagnosis of a dam-gallery open channel system subject
0.4 to sensor and actuator faults. The parameters of the dam-gallery
0.2
ru
rffiffiffiffiffiffiffiffiffiffiffiffiffi
>
in obtaining the product U a,t U a,t . By applying Eq. (A.2) and xa,t pffiffiffi
1
lFðF1Þz a,t ðga,t U a,t 1 þ ljF1 Þ FðF1Þ y a,t jF1
þ > > ~ >
?
observing that U a,t 1 PjF1 ¼ 0, the following expression can be
sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 3
derived: xa,t ðF1Þ
1 z a,t 5
>
U a,t U a,t ¼ lU a,t 1 U a,t 1 þ
>
u~ u~ > : ðA:6Þ F
FðF1Þ a,t a,t
By applying the matrix inversion lemma to (A.6) with
! sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
> 1 >
1 g~ a,t g~ >a,t x
a,t >
ðU a,t U a,t Þ1 ¼ U a,t 1 U a,t 1 ðA:7Þ z a,t ¼ ðy~ Y a,t 1 U a,t 1 ga,t Þ: ðA:8Þ
l d~ FðF1Þ a,t
a,t þ lFðF1Þ
> Using Eqs. (A.5) and (A.8):
with g~ a,t ¼ ðU a,t 1 U a,t 1 Þ1 u~ a,t and d~ a,t ¼ u~ >
a,t g a,t .
~
>
By post-multiplying Eq. (A.7) by U a,t , and taking (A.2) into Z a,t Z a,t ¼ lðY a,t P?
U
ÞðY a,t P?
U
Þ>
a,t a,t
account:
>
¼ lZ a,t 1 Z a,t 1 þz a,t z >
a,t
>
Now, pre-multiplying the last equation by U a,t yields Note now that Z a,t 1 and Z a,t ¼ ½Z a,t 1 z a,t can be written as
Z a,t 1 ¼ Ga X t 1 P?
U
and Z a,t ¼ Ga X t P?
U
respectively. From
a,t 1 a,t
this, it follows that z a,t belongs to the column space of Ga .
> > 1 Li, Y., Cantoni, M., & Weyer, E. (2004). Design of a centralised controller for an
Y a,t U a,t ¼ lY a,t 1 U a,t 1 þ y~ u~ >
FðF1Þ a,t a,t irrigation channel using H-infinity loop-shaping. In UKACC International con-
! ference on control, Bath, UK.
> 1 > g~ g~ > Litrico, X., & Fromion, V. (2009). Modeling and control of hydrosystems. Springer.
ðU a,t U a,t Þ1 ¼ ðU a,t 1 U a,t 1 Þ1 a,t a,t ðA:9Þ Litrico, X., & Georges, D. (1999). Robust continuous-time and discrete-time flow
l b~
a,t control of a dam-river system. (I) Modelling. Applied Mathematical Modelling,
23, 809–827.
which in turn, can be rearranged in the form given in Algorithm 1. Litrico, X., Malaterre, P., Baume, J., Vion, P., & Ribot-Bruno, J. (2007). Automatic
tuning of PI controllers for an irrigation canal pool. Journal of Irrigation and
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