Fault tolerant control system based on subspace predictive control and multiple model predictive control

A fault tolerant control system is proposed using a recursive subspace predictive control and multiple model predictive control, which combines off-line projection-based method and on-line redesign method. Actuator faults are considered. For anticipated situations including normal state and occurrences of different faults, stable controller corresponding to each situation is designed off-line using model predictive control method with fixed parameters, and adaptive subspace model predictive control method play a key role in on-line controller redesign. A switching mechanism is proposed for the global fault tolerant control system. A simulation example is used to illustrate the efficacy of the proposed approach.