Actuator fault tolerant controller synthesis based on second order information

In this paper, a Fault Tolerant Control (FTC) strategy for LTI systems is presented. The main contribution concerns the application of the controllability gramian assignment in order to develop an actuator fault tolerant control scheme based on a fault accommodation principle. According to second order information, the controllability gramian assignment used in a feedback control preserves the system closed-loop stability despite of actuator failures. The effectiveness and performance of the proposed FTC method are illustrated on a multi-input/multi-output simulation example.