Integrated fault-tolerant scheme for a DC speed drive

In this paper, an active fault-tolerant control (FTC) scheme is presented with disturbance compensation. Fault-detection and compensation are merged together to propose a robust algorithm against model uncertainties. The GIMC control architecture is used as a feedback configuration for the active fault-tolerant scheme. The synthesis procedure for the parameters of the fault-tolerant scheme is carried out by using tools of robust control theory. A detection filter is designed for fault isolation taking into account uncertainties and disturbances in the mathematical model. Finally, the fault compensation strategy incorporates an estimate of the disturbances into the system to improve the performance of the closed-loop systems after the fault is detected. In order to illustrate these ideas, the speed regulation of a dc motor is selected as a case study, and experimental results are reported.