Robust state feedback for actuator failure accommodation

In this paper, the state feedback design for a class of systems with model uncertainties as well as actuator failures is considered. The proposed design method is developed in the framework of linear matrix inequalities (LMI). It can guarantee the robust stability and certain performance of the system even in the case of actuator failures and unknown model uncertainties. The proposed design is applied to a lab-scale dual-motor ball beam system, and has achieved satisfactory results.