Self-repairing control for plants with high relative degrees

In the previous works, a self-repairing control (SRC) has been developed for plants with unknown sensor failures. The SRC is recognized as one of the active fault-tolerant control based on dynamic redundancy, and has the advantage that the failed sensor can be found with no a priori information about the plant within a prescribed detection time. However, the SRC has been applicable for only a class of plants with relative degree one. As a remedy, using the well-known backstepping, this paper alleviates the condition on the relative degree in the designing the SRC system. Furthermore, to confirm the effectiveness, an application to a CSTR is shown.