Observer based actuator fault tolerant control for uncertain nonlinear T-S systems with time-delay

A new actuator fault tolerant control strategy is proposed for uncertain nonlinear T-S systems with time-delay. The control law aims to compensate the actuator faults and allows the system states to track a reference corresponding to a fault free situation. The design of such a control law requires the knowledge of the faults, this task is achieved with a proportional integral observer. The robust stability of the system with the fault tolerant control law is analyzed with the Lyapunov theory and the L₂-optimization. Sufficient stability conditions are obtained in terms of linear matrix inequalities. Finally, numerical examples are given to show the effectiveness of the results.