Integrated fault tolerant scheme with disturbance feedforward

An integrated fault-tolerant scheme is presented with disturbance compensation. Fault-detection and compensation are merged together to provide a robust algorithm against model uncertainties. The GIMC control architecture is used as a feedback configuration for the fault-tolerant scheme. The synthesis procedure for the parameters of the fault-tolerant scheme is carried out by using tools of robust control theory. In order to increase the set of strongly detectable faults, the disturbance information is feedforward into the fault detection algorithm. A detection filter is designed for fault isolation taking into account the uncertainties in the mathematical model. Finally, the fault compensation strategy also incorporates the disturbance estimation to improve the performance of the closed-loop systems after the fault is detected. In order to illustrate these ideas, the speed regulation of a dc motor is selected as a case study, and the experimental results are reported.