Consistency relations are often used to design residual generators based on non-linear
process models. A main difficulty is that they generally include time differentiated versions of
known signals which are difficult to estimate in a noisy environment. The main results of this
paper show how to lower the need to estimate derivatives of known signals in order to
compute a residual. Necessary and sufficient conditions for lowering the order of the
derivatives in one step are presented and a main step in the approach is to obtain a state …

Consistency relations are often used to design residual generators based on nonlinear
process models. A main difficulty is that they generally include time differentiated versions of
known signals which are difficult to estimate in a noisy environment. The main results of this
paper show how to lower, or if possible avoid, the need to estimate derivatives of known
signals in order to compute a residual. This is achieved by rewriting the problem into an
integrability problem using state-space realization theory. An attractive feature of the …