Simulation Results Process and Actuator Faults

Three classes of actuator and process faults have been considered in the simulations. 

A variation of the heat transfer coefficient between the reactor and the jacket (fault type 1) has been modeled as a time-varying bias AU(t), superimposed to the 

A fault affecting the thermal insulation of the cooling jacket (fault type 2) results in an additive term Aj on the energy balance of the jacket, i.e., 

A fault affecting the cooling system (fault type 3) is modeled as an additive term Au(t) on the commanded cooling fluid temperature computed by the controller, i.e., 

a bank of three isolation observers has been designed the gain matrices La, have been set as in (6.37), while the gains y setting the parameter update rate have been set, via a trial-and-error procedure, to y = 0.1, y2 = 1000, and yj, = 0.03. 

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