Design of fault-tolerant controller for uncertain continuous-time system

Based on Lyapunov stability theorem and the generalised inverse theory, we present a design procedure for synthesizing a state-feedback system possessing good characteristics due to both the placements of the closed-loop poles in a specified region and the integrity against actuator failures in this paper. Design method for state feedback controller such that all poles of the nominal closed-loop systems are placed within a prescribed circular region is addressed. The region that we consider for pole placement is a specified circular region. Then, the design of robust controller for the system subjected to plant parameter perturbation and actuator failure has been studied. Sufficient condition for the existence of the desired controller is derived. Furthermore, the result is developed for the case of sensor failure. It is shown that the proposed system design retains asymptotic stability in the presence of parameter perturbation, as well as in the case of actuator failure