Model-based fault detection and isolation system and method

A system for problem diagnosis in a transport device comprising:

• a plurality of residual evaluation units;
• a plurality of fault detector units in communication with said plurality of residual evaluation units, each of said plurality of fault detector units adapted to communicate fault data to at least one of said-residual evaluation units;
• and
• a supervisor unit adapted to analyze evaluated data from plurality of residual evaluation units and to diagnose a problem in accordance with said data from said plurality of residual evaluation units.

A transport device comprising:

• a first plurality of fault detector units associated with a first module in said transport device adapted to output residuals for said first module;
• a second plurality of fault detector units associated with a second module in said transport device adapted to output residuals for said second module;
• a first residual evaluation unit adapted to receive and process in accordance with a first residual evaluation method said residuals from said first plurality of fault detector units;
• a second residual evaluation unit adapted to receive and process in accordance with a second residual evaluation method said residuals from said second plurality of fault detector units;
• and
• a supervisor unit adapted to receive output from said first residual evaluation unit and said second residual evaluation unit and to diagnose a fault in accordance with said output from said first residual evaluation unit and said second residual evaluation unit.