A robust fault tolerant control approach for LTI systems with actuator and sensor faults

In this paper, we study a robust fault-tolerant control (FTC) problem for linear systems with time varying actuator and sensor faults and propose an parameter-dependent solution by using L₂ gain optimization techniques. Using estimated faults from a fault detection and isolation (FDI) scheme, parameter-dependent robust FTC gain will be scheduled by fault magnitude to stabilize and optimize the faulty system under all possible fault scenarios. The synthesis condition of such a FTC control law will be formulated as linear matrix inequalities (LMIs) and can be solved efficiently by semi-definite programming techniques. A numerical example is used to demonstrate the proposed fault-tolerant control approach for a simple faulty systems with different fault levels and fault estimation error bounds.