Fault Tolerant Control with Multiple Models and Output Compensation. Application for Servo System

In this paper a method for fault tolerant control is presented and investigated. It is based on multiple models. Fault diagnosis is performed and probabilities for each model to be the true one are computed. On their bases a compensation of the output signal is performed in order to achieve adequate control. This method allows to compensate partial as well as simultaneously appearing faults in the system. The problem is stated in general form. Experiments with a laboratory setup - servo system are performed in order to demonstrate the method.