A new type of reconfigurable control against actuator faults

A new type of reconfigurable control strategy based on fault detection and diagnosis by using a model following method is presented. The method can make the outputs of a failing system exactly track those of a reference model by detecting the location and amplitude of failure of an actuator failure, modify control parameters, and redesign the control law online to counteract dynamics caused by actuator failure. The method is easy to carry out, and following accuracy is higher.