Journal
CONTROL ENGINEERING PRACTICE
Volume 13, Issue 8, Pages 1047-1059Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2004.11.002
Keywords
H-infinity controller design; YJBK parameterization; fault tolerant control; observer based controller implementation; simulation
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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-infinity controller has been designed and verified in a lab setup. In this case study, the fault is a degradation of the tacho loop. (c) 2004 Elsevier Ltd. All rights reserved.
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