Extended Hybrid Timed Petri Nets with Semi-Supervised Anomaly Detection for Switched Systems, Modelling and Fault Detection

TL;DR

This paper introduces a unified fault detection framework for hybrid systems using an extended Petri net model combined with semi-supervised anomaly detection methods, enabling effective detection of various fault types.

Contribution

It extends Petri net formalism with marking-dependent flow functions and integrates semi-supervised anomaly detection, providing a novel, unified approach for fault detection in hybrid systems.

Findings

High detection accuracy for various fault types

Fast convergence and robust performance demonstrated in simulations

OC-SVM and SVDD offer optimal trade-offs between detection rate and false alarms

Abstract

Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting their ability to capture interacting fault patterns. This paper proposes a unified fault detection framework for hybrid dynamical systems by integrating an Extended Timed Continuous Petri Net (ETCPN) model with semi-supervised anomaly detection. The proposed ETCPN extends existing Petri net formalisms by introducing marking-dependent flow functions, enabling intrinsic coupling between discrete and continuous dynamics. Based on this structure, a mode-dependent hybrid observer is designed, whose stability under arbitrary switching is ensured via Linear Matrix Inequalities (LMIs), solved offline to determine observer gains. The observer generates residuals that reflect discrepancies between the estimated and measured outputs. These residuals are processed using semi-supervised methods, including One-Class SVM (OC-SVM), Support Vector Data Description (SVDD), and Elliptic Envelope (EE), trained exclusively on normal data to avoid reliance on labeled faults. The framework is validated through simulations involving discrete faults, continuous faults, and hybrid faults. Results demonstrate high detection accuracy, fast convergence, and robust performance, with OC-SVM and SVDD providing the best trade-off between detection rate and false alarms. The framework is computationally efficient for real-time deployment, as the main complexity is confined to the offline LMI design phase.