Fault Tolerant Control Design for Simultaneous Actuator and Sensor Faults Using Multiple MPCs

This paper presents active fault tolerant control (FTC) scheme for linear systems. The proposed FTC is designed based on integrating the model predictive control (MPC), fault detection filter and logic-based switching approach. Multiple MPCs are designed by foreseeing the possible faults. A fault detection filter (Kalman Filter) is used to detect the fault. The supervisor on receiving the fault information, switches to new control configuration using logic-based switching technique. An example of DC motor model is given to illustrate the effectiveness of the proposed method.