Where A, B, E, C, D, W are known matrices, k is an actuator fault and fs is a sensor fault.

Consider the following state equation:

X'=Ax+Bu+Ek

Y=Cx+Du+W fs

Where A, B, E, C, D, W are known matrixes, k is an actuator fault and fs is a sensor fault.

How I can calculate the actuator fault and sensor fault separately and simultaneously?

thanks