A natural approach to high performance robust control: another look at Youla parameterization

In this paper, we shall summarize a new approach to robust and fault tolerant control proposed recently by the author. This approach is based on a variation of all controller parameterization. This robust and fault-tolerant control design consists of two parts: a nominal performance controller and a robustness controller, and works in such way that when a component (sensor, actuator, etc) failure is detected, the controller structure is reconfigured by adding a robustness loop to compensate the fault. We shall illustrate how this strategy works with a simple example.