A new supervisory fault tolerant output regulation scheme for nonlinear systems

The fault tolerant output regulation problem for a class of nonlinear systems are considered from hybrid system point of view. The faults are generated by the exogenous systems that belong to a certain pre-specified set of models. The novelty is to design the fault tolerant control (FTC) scheme for the overall system process where different faults may occur respectively at different time instants of the process, which is called ¿the successional faulty case¿. The proposed FTC framework only relies on a simple supervisory switching among a family of pre-computed candidate controllers without any additional model/filter or adaptive scheme. A DC motor example illustrates the efficiency of the proposed method.