Abstract
Fault detection and isolation (FDI) in real-time systems can provide early warnings for
faulty sensors and actuator signals to prevent events that lead to catastrophic failures. The
main objective of this paper is to develop FDI and fault tolerant control techniques for base
isolation systems with magneto-rheological (MR) dampers. Thus, this paper presents a
fixed-order FDI filter design procedure based on linear matrix inequalities (LMI). The
necessary and sufficient conditions for the existence of a solution for detecting and isolating
faults using the 
formulation is provided in the proposed filter design. Furthermore, an FDI-filter-based
fuzzy fault tolerant controller (FFTC) for a base isolation structure model was designed to
preserve the pre-specified performance of the system in the presence of various unknown
faults. Simulation and experimental results demonstrated that the designed filter can
successfully detect and isolate faults from displacement sensors and accelerometers while
maintaining excellent performance of the base isolation technology under faulty conditions.