Passive fault tolerant control of a double inverted pendulum - a case study

Hans Henrik Niemann, Jakob Stoustrup

Research output: Contribution to journalJournal articleResearchpeer-review


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 languageEnglish
JournalControl Engineering Practice
Issue number8
Pages (from-to)1047 - 1059
Publication statusPublished - 2005


  • fault tolerant control
  • Controller design
  • observer based controller implementation
  • controller parameterization
  • simulation


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