A strategy for fault tolerant control of full-state feedback linearisable nonlinear systems

We present a scheme for fault detection and isolation (FDI) and controller reconfiguration (CR) in full–state feedback linearisable nonlinear systems subject to actuator faults. The nonlinear plant is feedback–linearised and then controlled by a linear controller that satisfies a requirement of set–point tracking. Ultimate bound arguments are used to detect and isolate the healthy or faulty system operation. Then, the virtual actuator methodology is applied to reconFigure the control laws after the occurrence of actuator faults. This proposed scheme is illustrated by an example of the Chua circuit.