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Tbis book is basicaUy concemed with approaches for improving safety
in man-made systems. We caU these approaches, coUectively, fault
monitoring, since they are concemed primarily with detecting faults
occurring in the components of such systems, being sensors,
actuators, controUed plants or entire strucutures. The common
feature of these approaches is the intention to detect an abrupt
change in some characteristic property of the considered object, by
monitoring the behavior of the system. This change may be a
slow-evolving effect or a complete breakdoWD. In tbis sense, fault
monitoring touches upon, and occasionaUy overIaps with, other areas
of control engineering such as adaptive control, robust controller
design, reIiabiIity and safety engineering, ergonomics and
man-macbine interfacing, etc. In fact, a system safety problem,
could be attacked from any of the above angles of view. In tbis
book, we don't touch upon these areas, unless there is a strong
relationship between the fauIt monitoring approaches discussed and
the aforementioned fields. When we set out to write tbis book, our
aim was to incIude as much material as possible in a most rigorous,
unified and concise format. Tbis would incIude state-of-the-art
method as weil as more cIassical techniques, stilI in use today. AB
we proceeded in gathering material, however, it soon became
apparent that these were contradicting design criteria and a
trade-off had to be made. We believe that the completeness vs.
Tbis book is basicaUy concemed with approaches for improving safety
in man-made systems. We caU these approaches, coUectively, fault
monitoring, since they are concemed primarily with detecting faults
occurring in the components of such systems, being sensors,
actuators, controUed plants or entire strucutures. The common
feature of these approaches is the intention to detect an abrupt
change in some characteristic property of the considered object, by
monitoring the behavior of the system. This change may be a
slow-evolving effect or a complete breakdoWD. In tbis sense, fault
monitoring touches upon, and occasionaUy overIaps with, other areas
of control engineering such as adaptive control, robust controller
design, reIiabiIity and safety engineering, ergonomics and
man-macbine interfacing, etc. In fact, a system safety problem,
could be attacked from any of the above angles of view. In tbis
book, we don't touch upon these areas, unless there is a strong
relationship between the fauIt monitoring approaches discussed and
the aforementioned fields. When we set out to write tbis book, our
aim was to incIude as much material as possible in a most rigorous,
unified and concise format. Tbis would incIude state-of-the-art
method as weil as more cIassical techniques, stilI in use today. AB
we proceeded in gathering material, however, it soon became
apparent that these were contradicting design criteria and a
trade-off had to be made. We believe that the completeness vs.
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