Fault diagnosis and accommodation in dynamic systems; application to a DC motor

In this paper a method for fault diagnosis and accommodation in dynamic systems is presented. The proposed approach is composed of two steps. In the event of fault, the first step is the detection of the failed component, and the estimation the fault parameters. For this purpose an adaptive state observer is used. The second step consists in the design of an adaptive control structure which implicitly reconfigures the control law using the online estimates of the altered system dynamics. The application to a DC motor is presented to illustrate the proposed approach