Online Fault Detection of A Three-tank System Based on Extended State Observer

This paper proposes a fault detection method based on an extended state observer (ESO). This method of fault detection is achieved in two-stage process, residual generation and fault prediction. Residual generation uses an ESO to estimate the state variables of the three-tank system. Fault prediction uses an ellipsoid threshold method to predict the faults. Twelve kinds of stepwise faults are detected successfully in the three-tank system. The experimental results elaborate the effectiveness of the online fault detection based on ESO.