Synthesis of reliable control systems

The problem of reliable control against arbitrary sensor and actuator failure is addressed. It is shown that, for a class of open loop stable, minimum phase systems, complete reliability can always be achieved through the use of a PID^r controller which induces a diagonal dominant condition in the DC gain of the transfer matrix while preserving the stability of the system. The integral control is then applied to this PD^r pre-conditioned plant to asymptotically regulate the system. An algorithm for synthesizing reliable control is also provided