Actuator fault recovery study based on post-fault time analysis

Under Fault-Tolerant control (FTC) framework, the present work discusses the actuator fault recoverability in relation with the fault occurrence, the fault detection and the fault accommodation delays. A performance index dealing with the variation between the nominal dynamic and the faulty one is defined and computed for different post-fault time intervals. The indicated criterion, compared to a fixed admissibility limit, allows the determination of optimal detection and accommodation instants for recoverable faults either with or without accommodation. The main contribution, in this work, is the definition of conditions on the fault detection and accommodation times, so that the fault is recoverable with guaranteing a trade-off between the closeness of the faulty output to the nominal one and the requested control to accommodate the fault.

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