This paper describes the model-based fault detection and diagnosis for electromagnetic actuators. Due to hysteresis behavior, the model of Jiles and Atherton is used to capture these hysteretic effects. It is shown that the use of this model results in superior model fidelity and allows to detect even tiny, incipient faults at the actuator. The method has been applied to a direct-driven proportional valve of an electro-hydraulic servo axis and has been tested extensively on a real testbed.

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