Adaptive Observer-Based FEA for Discrete-Time Switched Systems

In this section, a novel FD and FE method is proposed for discrete-time switched systems. In the proposed design, an FD observer with online learning capability is utilized to generate a residual, which is obtained by comparing the system output with respect to the observer output. A fault is successfully detected if the generated residual exceeds a priori chosen threshold. Subsequently, the fault magnitude is estimated online by using a suitable parameter update law.