Simultaneous fault detection and control design for robots with linear fractional-order model

The problems of simultaneous detection of fault and control (SFDC) for robots with linear fractional-order (FO) model or any system that can be modeled as a linear fractional-order are investigated in this study. The new rules in terms of LMI are displayed to build a SFDC unit. In essence, a Luenberger observer has been used as a fault explorer and the controller has been designed to form of an observer-based controller. This design is converted to H-/H∞ problem. In order to show the correctness of the design method and the resulting formulas, a numerical model simulated with MATLAB is presented in this article.