Mogens Blanke · Michel Kinnaert · Jan Lunze · Marcel Staroswiecki Diagnosis and Fault-Tolerant Control
Mogens Blanke · Michel Kinnaert Jan Lunze · Marcel Staroswiecki
Diagnosis and Fault-Tolerant Control With contributions by Jochen Schröder
2nd Edition With 270 Figures, 121 Examples, 5 Application Studies, and 36 Exercises
Prof. Dr. Mogens Blanke
Prof. Dr. Michel Kinnaert
Technical University of Denmark Section of Automation at Ørsted · DTU 2800 Lyngby, Denmark and Norwegian University of Science and Technology 7491 Trondheim, Norway
[email protected]
Université Libre de Bruxelles Laboratoire d‘Automatique CP 165 50 Ave. F.D. Roosevelt 1050 Bruxelles, Belgium
[email protected]
Prof. Dr.-Ing. Jan Lunze
Prof. Dr. Marcel Staroswiecki
Ruhr-Universität Bochum Lehrstuhl für Automatisierungstechnik und Prozessinformatik 44780 Bochum, Germany
[email protected]
Université Lille I Ecole Polytechnique Universitaire de Lille 59655 Villeneuve d‘Ascq Cedex, France and Ecole Normale Supérieure de Cachan 94235 Cachan, France
[email protected]
Library of Congress Control Number: 2006927814
ISBN-10 3-540-35652-5 Springer Berlin Heidelberg New York ISBN-13 978-3-540-35652-3 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under German Copyright Law. Springer is a part of Springer Science+Business Media springer.com © Springer-Verlag Berlin Heidelberg 2006 Printed in Germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Digital data supplied by data Final processing: PTP-Berlin Protago-TEX-Production GmbH, Berlin (www.ptp-berlin.com) Cover-Design: estudio Calamar, Frido Steinen-Broo, Spain Printed on acid-free paper 62/3141/Yu – 5 4 3 2 1 0
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><7R>L 7:7R[ D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?1P 1DPD? <:[R7$: L('U<'<$[6 M(' /U:R '(R($R7>< <' 7M>:R7>< D D ?1O 1DPDT RLU$RUL::[ ;><7R>L :( MU M[MR(;M D D D D D D D D D D D D D D D D D D D D ?1= 1DPDS (M74< >/ <:[R7$ L('U<'<$[ L(:R7><M D D D D D D D D D D D D D D D D D ?PT 1DPD3 RLU$RUL: '(R($R 7:7R[ <' 7M>: 7:7R[ D D D D D D D D D D D D D D D D D D D ?PS 1DPD1 (M74< >/ L> UMR <' MRLU$RUL(' L(M7'U:M D D D D D D D D D D D D D D D D ?PP >:: 7:7R[ D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?OT RLU$RUL: <:[M7M >/ /U:R R>:(L<$( D D D D D D D D D D D D D D D D D D D D D D D D D D D ?OO 1D+D? U:RM <' R5( M[MR(; MRLU$RUL( D D D D D D D D D D D D D D D D D D D D D D D D D ?O+ 1D+DT <>Y:('4( >UR /U:RM D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?O= 1D+DS U:R R>:(L<$( Y7R5 L(M@($R R> <><6MRLU$RUL: /U:RM D D D D D D D D ?+] 1D+D3 U:R R>:(L<$( Y7R5 L(M@($R R> MRLU$RUL: /U:RM D D D D D D D D D D D D ?+] X:UR7>< >/ MRLU$RUL: <:[M7M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?+3 Z(L$7M(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?+1 7 :7>4L@57$: <>R(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D ?++
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*'/19*9 / 8 1/#'@8- 1/=81- 1" *98 = ) A /= 9D9= .9 E E E E E E SP= +D? >R7XR7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D SP= +DT >'(:M >/ '7M$L(R(6(X(<6'(R(L;7<7MR7$ M[MR(;M D D D D D D D D D D D D D SO? +DTDT ><6'(R(L;7<7MR7$ UR>;R <' (RL7 <(RM D D D D D D D D D D D D D D D SO3 +DTDS R>$5MR7$ @L>$(MM(M <' UR>;R D D D D D D D D D D D D D D D D D D D D D D SO+ +DTD3 (5X7>UL >/ MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D D D D D D D S+S +DTD1 >'(: >/ R5( /U:R[ UR>;R>< D D D D D D D D D D D D D D D D D D D D D D D D D S+O +DS RR( > M(LXR7>< >/ MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D D D D D D D S+= +DSD? L(:7;7<L[ $><M7'(LR7><M >/ $><M7MR(<$[6 M(' '74<>M7M D D S+= +DSDT M(LXR7>< @L> :(; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D S=] +DSDS ><M7MR(UR@UR @7LM D D D D D D D D D D D D D D D D D D D D D D D D D D S=? +DSD3 >:UR7>< R> R5( MRR( > M(LXR7>< @L> :(; D D D D D D D D D D D D D D D D S=T +DSD1 ($ULM7X( />L; >/ R5( M>:UR7>< D D D D D D D D D D D D D D D D D D D D D D D D D S=P +DSDP 7M$UMM7>< >/ R5( L(MU:RM D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D S=O +DSDO M(LXR7>< :4>L7R5; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3]] +DSD+ RR( > M(LXR7>< >/ <><6'(R(L;7<7MR7$ UR>;R D D D D D D D D D D 3]T +DSD= M(LX 7:7R[ >/ MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D D D D 3]P +DSD?] 7MR7<4U7M57<4 7<@URM D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3?] +D3 74<>M7M >/ MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3?3 +D3D? L7<$7@:( >/ $><M7MR(<$[6 M(' '74<>M7M D D D D D D D D D D D D D D D D D 3?3 +D3DT ><M7MR(<$[6 M(' '74<>M7M >/ MR>$5MR7$ UR>;R D D D D D D D 3?P +D3DS 74<>MR7$ :4>L7R5; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3?= +D3D3 74<>M 7:7R[ >/ MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D D D 3TS +D1 (;>R( '74<>M7M >/ '7M$L(R(6(X(MR7$ 7; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3TO +D1DT <6 >L' /U:R '(R($R7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3T+ +D1DS //6 >L' /U:R 7'(< D D D D D D D D D D D D D D D D D D D D D D D D D D D 3S] +DP (<M>L <' $RUR>L '74<>M7M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3S1 +DPD? 74<>MR7$ @L> :(; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3S1 +DPDT (<M>L MU@(LX7M7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3SP +DPDS $RUR>L MU@(LX7M7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 33T +DO >: L($><04ULR7>< />L MR>$5MR7$ UR>;R D D D D D D D D D D D D D D D D D 33S +DOD? UR>;R7$ MU MR7RUR7>< >/ /U:R[ M(<M>LM D D D D D D D D D D D D D D D D D 33S +DODT UR>;R7$ L($><04ULR7>< >/ '74<>M7M D D D D D D D D D D D D D D D D D D 333 +D+ Z(L$7M(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 331 +D= 7 :7>4L@57$: <>R(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 33P
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=DT UUM6XL7 :( M[MR(; D D D D D D D D D D D D D D D D D D D D D D D D D D D 31S =DTDT U< >/ R5( M74<: M@$(M D D D D D D D D D D D D D D D D D D D D D D D 313 =DTDS (5X7>UL >/ EU$5MR7$ @L>@(LR7(M >/ EUUL: X7(Y >< MU@(LX7M7>< @L> :(;M D D D D D D D D D D D D D D D D D D D D 3P1 =D3 7M$L(R(6(X('(:M >/ EU'(::7<4 @L> :(; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3P= =D3DT (@L(M(< >/ UR><>;>UM EU$5M6 R7$ UR>;R D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3O] =D3DS ZR(<M7><M R> M[MR(;M Y7R5 7<@UR <' >UR@UR D D D D D D D D D D D D D D 3OP =D3D3 (@L(M(< >/ /U:R[ EU M(LXR7>< >/ EU< ;(R5>' D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+? =D1DT 7M$UMM7>< >/ R5( L(MU:R D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+T =D1DS M(LXR7>< :4>L7R5; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+3 =DP 74<>M7M >/ EUMR7$ ;(R5>' D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+P =DPDT 7M$UMM7>< >/ R5( L(MU:R D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+O =DPDS 74<>MR7$ :4>L7R5; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3+= =DPD3 ($><04ULR7>< 7< $M( >/ M(<M>L >L $RUR>L /7:UL(M D D D D D D 3=] =DPD1 ZR(<M7><M <' @@:7$R7>< (Z;@:(M D D D D D D D D D D D D D D D D D D D D 3=S =DO U:R6R>:(L: >/ EU<04ULR7>< @L> :(; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 3=+ =DODT L@56R5(>L(R7$ />L;U:R7>< >/ R5( $>: @L> :(; D D D D D D D D 1]] =DODS L($><04ULR7>< ;(R5>' D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1]? =D+ Z(L$7M(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1]T =D= 7 :7>4L@57$: <>R(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1]S 2F6 33-*=*1/ C.3- 9 E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E 1]1 ?]D? U:R6R>:(L: >/ R5L((6R<9 M[MR(; D D D D D D D D D D D D D D D D D D D D 1]1 ?]D?D? >: @L> :(; D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1]1 ?]D?DT (<(L7$ $>;@><(/ R5( R5L((6R<9 M[MR(; D 1?] ?]D?DS >:UR7>< >/ R5( L($><04ULR7>< RM9 D D D D D D D D D D D D D D D D D D D D D 1?O ?]DT 74<>M7M <' /U:R6R>:(L: >/ $5(;7$: @L>$(MM D D D D D D D D D 1T] ?]DTD? U:R '74<>M7M [ ;(<M >/ '7M$L(R(6(X('(: D D D D D D D D 1T] ?]DTDT ($><04ULR7>< >/ :(X(: <' R(;@(LRUL( $>: :>>@ D D D D 1T+ ?]DTDS ($><04ULR7>< >/ $><'U$R7X7R[ $>: :>>@ D D D D D D D D D D D D 1SP ?]DS 74<>M7M <' $>: >/ M57@ @L>@U:M7>< M[MR(; D D D D D D D D D D D D D D D 131 ?]DSD? RLU$RUL( >/ R5( M57@ @L>@U:M7>< M[MR(; D D D D D D D D D D D D D D D D D D 131 ?]DSDT >'(:M >/ R5( @L>@U:M7>< M[MR(; D D D D D D D D D D D D D D D D D D D D D D D 13O ?]DSDS U:R M$(<L7>M <' L(EU7L(;(< R5( '74<>M7M D D D D D D D D D 113 ?]DSD3 RLU$RUL: <:[M7M >/ R5( @L>@U:M7>< M[MR(; D D D D D D D D D D D D D D 11+ ?]DSD1 U:R '74<>M7M UM7<4 R5( @L7R[ M@$( @@L>$5 <' MRR( > M(LXR7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1PT
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?]DSDP U$5 R> R5( '74<>M7M >/ R5( @7R$5 $>: :>>@ D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1PP ?]DSDO U:R6R>:(L@U:M7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1OT U@(LX7M7>< >/ MR(; 4(<(LR>L D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1O3 ?]D3D? (M$L7@R7>< >/ R5( @L>$(MM D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1O3 ?]D3DT >'(:7<4 >/ R5( MR(; 4(<(LR>L D D D D D D D D D D D D D D D D D D D D D D D 1OP ?]D3DS (M74< >/ R5( '74<>MR7$ M[MR(; D D D D D D D D D D D D D D D D D D D D D D D D 1+? ?]D3D3 RLU$RUL: <:[M7M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1+S ?]D3D1 U:R M74<RUL(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1+= ?]D3DP Z@(L7;(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1=? ?]D3D+ X:UR7>< >/ R5( (Z@(L7;(:(L/ YL(5>UM( RLU$9M D D D D D D D D D D D D D 1=3 ?]D1D? 'U$R7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1=1 ?]D1DT :($RL7$: R((L7<4 D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1=1 ?]D1DS [MR(; L$57R($RUL( D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D 1=+ ?]D1D3 RLU$RUL: <:[M7M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D P]T ?]D1D1 <:[R7$: @L>@(LR7(M >/ L(M7'U:M D D D D D D D D D D D D D D D D D D D D D D D P]+ ?]D1DP U:R '(R($R7>< <' 7M>:R7>< D D D D D D D D D D D D D D D D D D D D D D D D D D D P]= ?]D1DO Z@(L7;(< >/ R5( L(MU:RM D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D P?] U;;L[% U7'(:7<(M />L R5( '(M74< >/ /U:R6R>:(L: D D D D D D P?T ?]DPD? L$57R($RUL( D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D P?T ?]DPDT (M74< @L>$('UL( D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D P?3 7 :7>4L@57$: <>R(M D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D P?+
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1' /9 -/, 7M @L>/(MM>L >/ UR>;R7$ $>: R R5( ($R7>< >/ UR>;R7>< R LMR('8 >/ R5( ($5<7$: <7X(LM7R[ >/ (<;L9 <' 7M '8>7< @L>/(MM>L R R5( $(/ (Z$(::(<$( R R5( >LY(47< <7X(LM7R[ >/ $7(<$( <' ($5<>6 :>4[D 7M L(M(L$5 7;@L7M( UR><>;>UM <' /U:R6R>:(LM7M& M[MR(;M L$57R($RUL( '(M74< R> > R7< '(M7L(' M/(R[ @L>@(LR7(M& M[MR(; ;>'(::7<4& 7'(< <' $>:D 7M (Z@(L7(<$(M L(MU:R /L>; R5( '(X(:>@;(/ /U:R6R>:(L