Fault tolerant control for lure systems via LPV embedding

This paper presents a fault tolerant control scheme that compensates for actuator faults in nonlinear Lure systems by adapting the controller gain based on estimates of the fault magnitude. The plant is subject to process disturbances and embedded in closed-loop with a linear state feedback tracking controller, designed for the nominal system. The control law is adapted to the fault situation diagnosed by an invariant-set-based fault detection and isolation algorithm. Conditions for correct fault detection and bounds on the fault estimation are derived. The Chua circuit is used to illustrate the proposed scheme.