Fault Tolerant Control for Uncertain Switching Discrete-time Systems with Actuator Failures

In this paper, a Fault Tolerant Control (FTC) strategy for uncertain switched systems that can be used in the case of additive actuator faults is proposed. Sufficient conditions of building an observer are obtained by using multiple Lyapunov function. These conditions are worked out in a simple way, using cone complementarity technique, to obtain new LMIs with slack variables and multiple weighted residual matrices. The obtained results are applied on a numerical example showing fault detection, localization of fault and reconfiguration of the control to maintain asymptotic stability even in presence of a permanent actuator fault.