Adaptive fault tolerant control: Application to a DC servo motor

The paper concerns a problem of robust adaptive fault tolerant control for linear discrete-time systems. The first part concerns the design problem of a robust observer, which can be used for simultaneous state and fault estimation along with decoupling of the so-called unknown input, which can represent modelling uncertainty as well as disturbances acting on the system. The appealing property of the proposed approach is that the effect of undecoupled part of disturbances can be further suitably minimized. The second part presents the problem of a robust fault-tolerant control design, which is suitably integrated with state and fault estimation scheme in order to cope with the fault effect. The subsequent part deals with the laboratory DC servo motor, while the final part shows experimental results, which clearly confirm the effectiveness of proposed approach.