Robust sensor fault reconstruction for an inverted pendulum using right eigenstructure assignment

This work presents a robust sensor fault reconstruction scheme applied to an inverted pendulum. The scheme utilized a linear observer, using right eigenstructure assignment in order to null the effect of nonlinearities and disturbances on the fault reconstruction. The design method is adapted and modified from existing work in the literature. A suitable interface between the pendulum and a computer enabled the application. Very good results were obtained.