A Design Method of 2DOF Fault Tolerant Servo Controller against Simultaneous Sensor and Actuator Failure

This paper describes a design method of two degree of freedom (2DOF) servo controllers for systems with simultaneous sensor and actuator failure. First, we introduce systems with input redundancy and give fault tolerant control against simultaneous sensor and actuator failure. Next, a design method of 2DOF servo control systems is proposed in order to improve transient response and to guarantee the steady state without offset for the target value. Finally, we show the effectiveness of our proposed method by simulation.