Virtual actuator for Lure systems with Lipschitz-continuous nonlinearity

In this paper, we extend virtual actuators to Lure systems with Lipschitz-continuous nonlinear characteristic. Virtual actuators are used to reconfigure control laws after the occurrence of actuator failures. They have been developed for linear, Hammerstein-Wiener, and piecewise affine systems and are now made available for Lure systems. Lure systems, which consist of linear dynamics with nonlinear internal feedback, are useful for representing, among others, mechanical systems with friction. We provide sufficient stability conditions for the reconfigured closed-loop system that are also useful for finding the virtual actuator parameters, and evaluate the method by means of an example.