Integrated Fault Estimation and Fault Tolerant Control: A Joint Design

Over the past decades, substantial progress has been made in fault detection and diagnosis (FDD) and fault tolerant control (FTC) research. Recently, some attention has been paid to the integrated design of fault estimation (FE) and active FTC in a two-stage manner: estimation first and then compensation. Different from the preceding two-stage work, this paper deals with the joint design problem of FE and active FTC in an attempt to resolve them simultaneously. The joint design is accomplished by borrowing the H2, H∞, and mixed H2/H∞ concepts in the robust control field to quantitatively evaluate the fault tolerant performance. Necessary and sufficient conditions for the existence of a joint solution are formulated in the linear matrix inequality (LMI) language. A numerical tutorial example is used to illustrate the effectiveness of the proposed method.