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The area of fault detection is becoming more interesting since there havebeen many unique designs to detect or even compensate the faults, either fromsensor or actuator. This paper applies the hydraulic system with interconnectedtanks by implementing a leakage on one of the three tanks. The mathematicalmodel along with the details of stability properties are highly discussed inthis paper by imposing the Lyapunov and boundedness stability. The theory offault detection with certain threshold after the occurrence of the faultcorresponding to the state estimation error is mathematically presented endedby simulation. Moreover, the system compares the effectiveness of the proposedobserver using Luenberger observer, adaptive-scaling Kalman and consensusfiltering. The results for some different initial condition guarantee thedetection of the fault for some time $t_d > t_f$

Estimation and Fault Detection on Hydraulic System with Adaptive-Scaling Kalman and Consensus Filtering