Reference governor design with guarantees of detection for delay variation

The present paper deals with fault tolerant control for linear dynamics with additive disturbances. The control action is generated based on information collected from a redundant, multi-sensors network. Delays that may appear during plant measurements transmission through real communication channels are considered as faults. Depending on presence of delay in feedback loop, different invariant sets can be computed. We show that fault tolerant control can be achieved through invariant sets separation with respect to different delay values. Sets separation is accomplished for specific values of the reference signal. Therefore, we introduce in the loop a reference governor which is designed by a receding horizon technique. Thus, we provide reference signals which practically guarantee fault detection and identification in real time.