An exact penalty-function approach to proactive fault-tolerant economic MPC

This paper presents a fault-tolerant economic model predictive control scheme for proactive handling of incipient actuator faults. The scheme applies an exact penalty function with a set of switching rules in order to steer the system by a minimum-time approach inside a controlled invariant set where stability of the system can be preserved during loss of actuation from the faulty actuator. We consider the approach for linear control systems, thereby allowing computation of a lower bound for the penalty parameter to ensure exactness of the penalty function. We prove nominal asymptotic stability of the modes of the proposed model predictive control scheme, and illustrate the approach by a numerical example.