LAUSR

Abstract The paper concerns a development of an integrated design of fault estimation and control scheme within an integrated actuator fault-tolerant control framework. The integrated design boils down to avoiding a standard three-step fault diagnosis (detection, isolation, identification) and replacing it by a fault estimation. Subsequently, the inaccuracies caused by fault estimation are taken into account while designing fault-tolerant controller. Contrarily to the usual framework, which extends the set of disturbances/noise by such inaccuracies, they are taken into account individually in such a way as to achieve a well-balanced final control effect. Finally, a complete fault-tolerant design procedure is provided along with its convergence analysis. The last part of the paper shows the performance of the proposed approach using a DC-servo motor benchmark example.