Analytically redundant controllers for fault tolerance: Implementation with separation of concerns

Diversity or redundancy based software fault tolerance encompasses the development of application domain specific variants and error detection mechanisms. In this regard, this paper presents an analytical design strategy to develop the variants for a fault tolerant real-time control system. This work also presents a generalized error detection mechanism based on the stability performance of a designed controller using the Lyapunov Stability Criterion. The diverse redundant fault tolerance is implemented with an aspect oriented compiler to separate and thus reduce this additional complexity. A Mathematical Model of an Inverted Pendulum System has been used as a case study to demonstrate the proposed design framework.