Integrated fault tolerant control with multiple constraints

The problem of fault tolerant control (FTC) with multiobjective requirements is investigated for a class of nonlinear systems subject to actuator faults. An integrated FTC strategy is proposed by combining the passive FTC with the online FDD-dependent active FTC method to guarantee the closed-loop stability of the faulty system. Meanwhile, it can ensure the given constraints on control input and system output, the prescribed level on the disturbance attenuation and the optimized quadratic cost performance. The corresponding active FTC controller with static-output-feedback form is developed by the proposed LMI-nonlinear programming (LMI-NP) iterative algorithm, which can deal with the non-convex constraints. The LMI-NP iterative algorithm also implies a trade-off among inconsistent constraints, avoiding the unsolvability of the online active FTC controller reconfiguration.