A robust model-based fault diagnosis method with H_2 filtering is proposed for motor system. It draws on the model-based fault diagnosis method architecture and unites with robust control theory, and structurally consists of residual generator and decision-making. Its basic principle is to introduce mutual residual as the residual generator for fault detection, and apply H_2-norm for fault isolation and location. It is employed in a four-phase PM fault-tolerant motor for open-and short-circuit fault diagnosis. The computation and simulation data, of the open- and short-circuit fault for a real four-phase PM fault-tolerant motor, has verified the validity and accuracy of the proposed method.
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