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Active fault detection and isolation in a zonotopic framework

We consider a plant affected by multiple faults (modeled through a piecewise affine formalism). Using a bank of finite-window observers and an artificially-induced feedback delay we provide an exact fault detection and isolation (FDI) mechanism, integrated into the overall fault tolerant control scheme. We use zonotopic characterizations for the sets of interest in order to provide explicit conditions for FDI exactness (such that a fault occurrence can be signaled unambiguously) and to alleviate the numerical issues specific to set operations.