H-infinity Structured Residual Generator Synthesis Using Residual Reference Models with Application to Lateral Vehicle Dynamics

Abstract

In the residual generation problem, one of the methods to achieve the fault sensitivity constraint is by optimising the residual to track a reference model for the fault-to-residual transfer function. A poorly selected, unrealistic reference model can have a detrimental impact on the robustness and decoupling performance of the residual. This can be particularly severe in the multiple fault case where the optimal ratio between the fault-to-residual gains are not known a priori. The proposed method is a measure to reduce this effect, by allowing the low frequency gain from each fault to the scalar residual to vary via an additional decision variable in the LMI formulation of the H-infinity estimator synthesis problem. The effectiveness of this method is demonstrated in a vehicle lateral dynamics application.