Closed-loop Aspects in MIMO Fault Diagnosis with Application to Precision Mechatronics

Fault detection is essential in precision mechatronics to facilitate maintenance and minimize operational downtime. The aim of this paper is to develop a systematic procedure from identification to accurate nullspace-based fault diagnosis, accounting for the influence of noise and interaction in multivariable closed-loop control configurations. The influence of noise and interaction on the model estimate and fault diagnosis system are investigated through the use of closed-loop operators and by means of an illustrative case study.