Predictive actuator fault-tolerant control under ellipsoidal bounding

The paper is devoted to the issue of a robust predictive fault-tolerant control for linear discrete-time systems with an application of an ellipsoidal inner bounding of a robust invariant set. The crucial issue is to maintain the state of the system inside the robust invariant feasible set, which is a set of states guaranteeing the stability of the proposed control strategy. The approach begins with fault estimation, and then the fault is compensated along with arobust controller. In a case when robust fault compensation does not provide expected results, which means that the current state does not belong to the robust invariant set, then a suitable predictive control action is performed in order to enhance the ellipsoidal invariant set. This appealing phenomenon makes it possible to enlarge the domain of attraction of the possibly faulty system that makes the proposed approach an efficient solution to the fault-tolerant control problem. The final part of the paper shows an illustrative example regarding a two-tank system. Copyright (c) 2015 John Wiley & Sons, Ltd.