Abstract
A passive fault tolerant control scheme is suggested, in which a
nominal controller is augmented with an additional block, which
guarantees stability and performance after the occurrence of a fault.
The method is based on the YJBK parameterization, which requires
the nominal controller to be implemented in observer based form. The
proposed method is applied to a double inverted pendulum system, for
which an H_inf controller has been designed and verified in a lab
setup. In this case study, the fault is a degradation of the tacho loop.
| Original language | English |
|---|---|
| Journal | Control Engineering Practice |
| Volume | 13 |
| Issue number | 8 |
| Pages (from-to) | 1047 - 1059 |
| ISSN | 0967-0661 |
| Publication status | Published - 2005 |
Keywords
- fault tolerant control
- Controller design
- observer based controller implementation
- controller parameterization
- simulation