A dynamical controller with fault-tolerance: Real-time experiments

We propose a dynamical controller that is based on the high-gain and the reduced-order observers, is fault-tolerant and is obtained by means of a multi-input multi-output generalized observability canonical form generated from a differential primitive element. The dynamical controller is able to linearize the tracking errors, achieving ultimate uniform boundedness with measurement noise. To accomplish this, a fault diagnosis is required, involving additive and multiplicative faults, which have to be reconstructed simultaneously and online. Some real-time results are presented to illustrate the effectiveness of the proposed methodology.