Reconfigurable control of PWA systems with actuator and sensor faults: Stability

A new approach to the reconfigurable control of piecewise affine (PWA) systems after actuator and sensor faults is presented. The approach extends the concept of virtual actuators and virtual sensors from linear to PWA systems on the basis of the fault-hiding principle. The weak fault-hiding goal is introduced as a relaxation of the asymptotic fault-hiding goal. Sufficient linear matrix inequality conditions for the existence of input-to-state stabilizing virtual actuators and sensors are given that lead to a tractable computational algorithm. The stability of the reconfigured closed-loop system is verified. The approach is evaluated using a system of interconnected tanks.