Passivity-based Fault-tolerant Control
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We have seen in Chapter 4 that the concept of passivity can be used to develop decentralized control approaches. A passivity-based decentralized controller, if properly designed, can also achieve fault tolerance. For example, for a given multivariable linear strictly passive process, a decentralized passive controller can maintain the stability of a closed-loop control system when one or more controller loops fail simply because the decentralized passive controller remains passive when one or more elements are detuned or taken out of service. Motivated by this observation, a passivity-based decentralized fault-tolerant control framework was developed [16, 17, 148, 149]. In this chapter, we will present the main results of this approach, including fault-tolerant control systems design with zero or minimum control loop redundancy.
KeywordsSensor Fault Actuator Fault Static Output Feedback Pairing Scheme Unstable Process
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