Fault tolerant control for linear parameter varying systems: An improved robust virtual actuator and sensor approach

This paper presents a robust Fault-Tolerant Control (FTC) methodology for the design of virtual sensors and virtual actuators for discrete-time Linear Parameter Varying (LPV) systems. Conditions based on Linear Matrix Inequalities (LMIs) are proposed for the synthesis of a reconfiguration block composed of a virtual actuator and a virtual sensor, guaranteeing input-to-state stability (ISS). The main contribution of the proposed FTC approach is to deal with LPV models where input and output matrices can be parameter-dependent. Moreover, differently from results found in the literature, a single reconfiguration block can be designed to be robust to different kinds and magnitudes of faults. Real-time level-control experiments illustrate the efficiency of the proposed procedure; the system used in the experiments consists of a nonlinear two coupled tanks with two inputs and two outputs, represented by an LPV model subject to sensor and actuator faults. Experimental results and comparisons with results in the literature indicate that the proposed approach is able to mitigate the fault effects with better performance indices than the literature approaches.