Control reconfiguration in the presence of software failures
Bodson, M.; Lehoczky, J.; Rajkumar, R.; Sha, L.; Soh, D.; Smith, M.; Stephan, J.
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Volume , Issue , 15-17 Dec 1993 Page(s):2284 - 2289 vol.3
Digital Object Identifier 10.1109/CDC.1993.325604
Summary:In this paper, we discuss a special approach for software fault
tolerance in control applications. A full-function, high-performance,
but complex control system is complemented by an error-free
implementation of a highly reliable control system of lower
functionality. When the correctness of the high-performance controller
is in doubt, the reliable control system takes over the execution of the
task. An innovative feature of the approach is the disparity between the
two control systems, which is used to exploit the relative advantages of
the simple/reliable vs. complex/high-performance systems. Another
innovative feature is the fault detection mechanism, which is based on
measures of performance and of safety of the control system. The example
of a ball and beam system is used to illustrate the concepts, and
experimental results obtained on a laboratory set-up are presented
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