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Journal of Control Science and Engineering
Volume 2010, Article ID 497925, 11 pages
Research Article

A New Adaptive Kalman Estimator for Detection and Isolation of Multiple Faults Integrated in a Fault Tolerant Control

1Ecole Nationale des Sciences Appliquées Université Ibn Zohr, Agadir, Morocco
2Centre de Recherche en Automatique de Nancy, Université Henri Poincaré Nancy1, CNRS UMR 7039, BP 239, 54506 Vandoeuvre Cedex, France

Received 17 March 2010; Revised 4 July 2010; Accepted 27 October 2010

Academic Editor: Edwin Chong

Copyright © 2010 H. Jamouli and D. Sauter. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For sequential jumps detection, isolation, and estimation in discrete-time stochastic linear systems, Willsky and Jones (1976) have developed the Generalized Likelihood Ratio (GLR) test. After each detection and isolation of one jump, the treatment of another possible jump is obtained by a direct state estimate and covariance incrementation of the Kalman filter originally designed on the jump-free system. This paper proposes to extend this approach from a state estimator designed on a reference model directly sensitive to system changes. We will show that the obtained passive GLR test can be easily integrated in a Fault Tolerant Control System (FTCS) via a control law designed in order to asymptotically reject the effect of sequential jumps.