Dynamic threshold for fault detection in Lipschitz nonlinear systems

In this paper, a method of designing dynamic threshold for fault detection is proposed. The class of systems considered is nonlinear systems with Lipschitz nonlinearities and unstructured uncertainties. An inequality for the upper bound on the modulus of error dynamics is derived which is used for designing the dynamic threshold. The effectiveness of the proposed technique is demonstrated by simulation result for an electromechanical positioning system.