Robust on-line fault detection diagnosis for HVAC components based on nonlinear state estimation techniques.

Highlights: [•] The addition of a new back-smoothing technique enables real-time FDD. [•] Algorithm can detect the occurrence of multiple and simultaneous faults. [•] Noisy and erroneous sensor data do not lead to erroneous FDD solutions. [•] Proposed solution updates fault probabilities in less than 5s. [•] Three common chiller plant faults detected despite significant noise in sensor data. [Copyright &y& Elsevier]