Analytical Model-based Fault Detection and Isolation in Control Systems

The paper gives an introduction and an overview of the field of fault detection and isolation for control systems. The summary of analytical (quantitative model-based) methodds and their implementation are presented. The focus is given to mthe analytical model-based fault-detection and fault diagnosis methods, often viewed as the classical or deterministic ones. Emphasis is placed on the algorithms suitable for ship automation, unmanned underwater vehicles, and other systems of automatic control.