Physical diagnostics and fault relevant feedback control

The methods of feedback control and physical diagnostics of dynamical systems on the base of their direct and inverse (on subspace) dynamics models are suggested. Absolute and relative criteria of correct (or fault) functioning have been formulated and classification physical models of initial, parametrical, external and measurable faults have been described. The methods for synthesis of fault relevant (tolerant) control of programmed motion have been suggested and the evaluations of allowed physical bounds (tolerances) of classes of possible faults have been obtained. Using of suggested methods provides high indexes of motion control quality of dynamical systems (mechanical systems, robots, mechatronic systems etc.) in a broad class of physical faults uncertainty of dynamical systems.