Decoupling-based reconfigurable control of linear systems after actuator faults

In this paper, we provide the complete solution to the reconfigurable control problem after actuator faults in linear dynamical systems by means of disturbance decoupling approaches. The recovery of the closed-loop internal stability and the exact and approximate recovery of nominal tracking and performance are our main reconfiguration goals. We state necessary and sufficient conditions for the solvability of these problems. The approximate approach broadens the scope of potential applications. A thermofluid process is used to illustrate the exact and approximate methods.