Fault-tolerant control for output tracking systems subject to actuator saturation and constant disturbances: an LMI approach

The output tracking problem for linear systems subject to actuator faults, saturation and disturbances is studied in this paper. By incorporating an intelligent integrator and some formulation of the equilibrium points, the zero steady-state error tracking of constant reference command is converted into the convergence of the equilibrium point. Then a saturated state feedback controller and the associated domain of stability are synthesized. However, the equilibrium point of the closed-loop system may change due to actuator faults. To guarantee all the equilibrium points are converged subject to defined faults, two methods are proposed by building the extreme point model and the middle point model for continuous actuator faults. All the conditions for perfecting tracking are derived in the form of linear matrix inequality (LMI). The results of the illustrating example verify the effectiveness of the presented design techniques.

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