Reference governor design for tracking problems with fault detection guarantees

► Consecutive sensor outputs are used in an extended residual signal. ► Invariant/bounding sets for normal and delayed systems. ► Set membership conditions over input/state references for fault detection. ► Use of reference governor for guaranteeing fault detection. The present paper deals with the reference tracking problem for processes with linear dynamics and multisensor information subject to abrupt sensor faults. A key point for fault tolerance will be the separation between healthy and faulty closed-loop behavior upon a set-characterization approach. This is achieved through set theoretic operations involving the healthy/faulty behavior of residual signals related to the system dynamics. As a main contribution, a reference governor scheme is designed using a receding horizon technique. It is shown that fault detection guarantees can be achieved by appropriate adjusting of the governor's delay/prediction window under mild assumptions on the fault scenario.