The present invention is a method for detecting and isolating fault modes in a system having a model describing its behavior and regularly sampled measurements. The models are used to calculate past and present deviations from measurements that would result with no faults present, as well as with one...http://www.google.com/patents/US20050143873?utm_source=gb-gplus-sharePatent US20050143873 - Model-based fault detection and isolation for intermittently active faults with application to motion-based thruster fault detection and isolation for spacecraft
