document: Fault diagnosis and fault tolerant control of linear stochastic systems with unknown inputs This paper presents an integrated robust fault detection and isolation -LRB- FDI -RRB- and fault tolerant control -LRB- FTC -RRB- scheme for a fault in actuators or sensors of linear stochastic systems subjected to unknown inputs -LRB- disturbances -RRB- . As usual in this kind of works , it is assumed that single fault occurs at a time and the fault treated is of random bias type . The FDI module is constructed using banks of robust two-stage Kalman filters , which simultaneously estimate the state and the fault bias , and generate residual sets decoupled from unknown disturbances . All elements of residual sets are evaluated by using a hypothesis statistical test , and the fault is declared according to the prepared decision logic . The FTC module is activated based on the fault indicator , and additive compensation signal is computed using the fault bias estimate and combined to the nominal control law for compensating the fault 's effect on the system . Simulation results for the simplified longitudinal flight control system with parameter variations , process and measurement noises demonstrate the effectiveness of the approach proposed
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