LAUSR

This article studies the performance-oriented fault detection (FD) for nonlinear control systems in the data-driven framework. Unlike the traditional residual- or test statistic-based FD methods, the proposed approach focuses on evaluating the system performance changes/degradations caused by the faults. Specifically, the regulation performance described by an infinite-time cost function is first introduced as a control performance index of the feedback system. Using only the process input and output (I/O) data, a Takagi–Sugeno fuzzy dynamic model is constructed with the aid of subspace identification method. Then, the internal system state variables are expressed in terms of the I/O data and a fuzzy cost function is proposed to approximate the performance index. On this basis, the temporal difference error induced by the Bellman equation is adopted as the process evaluation indicator, whose threshold is determined through the randomized algorithm. To demonstrate the effectiveness of the proposed FD approach, case studies are performed in the end on a ship propulsion system and a three-tank system.