An LQ control based actuator failure compensation scheme for possibly nonminimum phase systems

In this paper, an LQ control based actuator failure compensation control scheme is developed for possibly nonminimum phase systems with actuator failures. The failure compensation control problem is formulated as a new LQ control problem for systems with failure disturbances. A new disturbance rejection problem for systems with unmatched disturbances is solved through an LQ based control algorithm to ensure the maximum reduction of the disturbance effect on the system output. New controller structures and design conditions are derived using dynamic programming in the presence of actuator failures, and state feedback and observer-based feedback designs are presented. Simulation results are presented to verify the desired control system performance in the presence of actuator failures.