A fault-tolerant control scheme for non-linear discrete-time systems

In this paper, an active FTC scheme is proposed. First, it is developed in the context of linear systems and then it is extended to non-linear systems with the differential mean value theorem. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is implemented as a state feedback controller. This controller is designed such that it can stabilize the faulty plant using Lyapunov theory and LMIs. Finally, the last part of the paper shows experimental results that confirm the high performance of the proposed approach.