Integrated Fault Tolerant Control for Saturated Systems with Additive Faults: A Comparative Study of Saturation Models

  • Mojtaba Hashemi
  • Ali Kamali EgoliEmail author
  • Mahyar Naraghi
Regular Papers Robot and Applications


In this paper, the integrated design problem of Fault Estimation (FE) and Fault Tolerant Control (FTC) for saturated systems is considered. The system suffers from input saturation and L2-bounded disturbances. To design an adaptive observer-based FE, the actuator output measurements are not used, when the actuator is saturated, there exist new interactions between FE and FTC. In such a case the separation principle for FE and FTC design does not hold anymore. In this paper, a method is introduced for integrated design of FE and FTC, which guarantees boundedness stability of such a system. To extract sufficient conditions for stability and minimum L2-gain performance for disturbance rejection, the Modified Sector Condition (MSC) is employed for saturation modeling. Also, Quadratic Polytopic Differential Inclusion (QPDI) approach is developed for the comparative study. All conditions are cast as Linear Matrix Inequality(LMIs) that can be evaluated in a single step. In a numerical example, the feasibility of the introduced method for stability guarantee is demonstrated and performance characteristics of FE and FTC in disturbance rejection are compared for both modeling approaches.


Integrated design linear matrix inequality observer-based fault tolerant saturated linear system 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringAmirKabir UniversityTehranIran

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