Continuous Stirred Tank Reactor Fault Detection Using Higher Degree Cubature Kalman Filter


  • Muhammad Naguib Ahmad Nazri Malaysia-Italy Design Institute, Universiti Kuala Lumpur, 56100 Kuala Lumpur, Malaysia.
  • Zool Hilmi Ismail Malaysia-Japan International Institute of Tech, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, Malaysia.
  • Rubiyah Yusof Malaysia-Japan International Institute of Tech, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, Malaysia.



continuous stirred tank reactor, cubature kalman filter, estimator, fault detection, nonlinear system


Continuous Stirred Tank Reactor (CSTR) plays a major role in chemical industries, it ensures the process of mixing reactants according to the attended specification to produce a specific output. It is a complex process that usually represent with nonlinear model for benchmarking. Any abnormality, disturbance and unusual condition can easily interrupt the operations, especially fault. And this problem need to detect and rectify as soon as possible.  A good knowledge based fault detection using available model require a good error residual between the measurement and the estimated state. Kalman filter is an example of a good estimator, and has been exploited in many researches to detect fault. In this paper, Higher degree Cubature Kalman Filter (HDCKF) is proposed as a method for fault detection by estimation the current state. Cubature Kalman filter (CKF) is an extension of the Kalman filter with the main purpose is to estimate process and measurement state with high nonlinearities. It is based on spherical radial integration to estimate current state by generating cubature points with specific value. Conventional CKF use 3rd degree spherical and 3rd degree radial, here we implement Higher Degree CKF (HDCKF) to have better accuracy as compared to conventional CKF. High accuracy is required to ensure no false alarm is detected and furthermore good computational cost will improve its detection. Finally, a numerical example of CSTR fault detection using HDCKF is presented. Implementation of HDCKF for fault detection is compared with other filter to show effective results.


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How to Cite

Ahmad Nazri, M. N., Ismail, Z. H., & Yusof, R. (2019). Continuous Stirred Tank Reactor Fault Detection Using Higher Degree Cubature Kalman Filter. ELEKTRIKA- Journal of Electrical Engineering, 18(3-2), 47–50.