Active fault tolerant control for uncertain system with state time-delay

An active control law design for uncertain linear systems with state time-delay is addressed in this paper, in order to guarantee dynamic performances and compensate fault effects. First, the fault tolerant control strategy is designed based on Frobenius norm by minimizing the distance between the closed-loop model of the faulty system and a reference one. Therefore, stability issue is ensured via the Modified Pseudo-Inverse Method (MPIM). Finally, simulation tests on a two stage chemical reactor train with delay recycle streams illustrate the effectiveness of the proposed control approach.