Discriminating between disturbance and process model mismatch in model predictive control

A novel method for discriminating faults in model predictive control is presented. The proposed method monitors the Kalman filter innovations to detect the presence of autocorrelation, which is an indication of suboptimal state estimation. The cause of the suboptimal state estimation is diagnosed by the observability of this innovations process. This task involves determining the order of the autocorrelation present in the innovations. The proposed MPC fault discrimination method is demonstrated on a SISO process and a MIMO process.