Open Access Open Access  Restricted Access Subscription or Fee Access

Robust Observer-Based Fault Tolerant Tracking Control for Linear Systems with Simultaneous Actuator and Sensor Faults: Application to a DC Motor System

(*) Corresponding author

Authors' affiliations



This paper discusses the problem of observer-based sensor and actuator fault estimation for fault tolerant control systems subject to noise and disturbance. First, an extended state system is formulated by letting the sensor and actuator fault term be two auxiliary state vectors; then a single robust observer is constructed to achieve concurrent estimations of original system states and faults by using PI structure. Further, sufficient conditions for the robust stability of the proposed observer are formulated in terms of linear matrix inequalities (LMIs) that can be conveniently solved using LMI optimization techniques. Based on the idea of a corrective control law and a corrective measurement output, which have capability to compensate the presence of fault, the estimation results of the proposed observer are used to provide the fault tolerant control system without changing the existing nominal control law. Thus this approach can be applied to general control system. Finally, the validity and applicability of the proposed approach are shown by a numerical example of a DC motor system.
Copyright © 2015 Praise Worthy Prize - All rights reserved.


Extended State; Robust Observer; Fault Estimation; Reconfigurable Control; DC Motor

Full Text:



H. Noura, D. Theilliol, J. C. Ponsart and A. Chamseddine, Fault-tolerant Control Systems: Design and Practical Applications, (Springer-Verlag, 2009).

M. Blanke, M. Kinnaert, J. Lunze and J. Staroswiecki, Diagnosis and Fault-Tolerant Control, 2nd edition, (Springer, 2006).

Y. Zhang and J. Jiang, Bibliographical review on reconfigurable fault-tolerant control systems, Annual Reviews in Control, vol. 32, no. 2, pp. 229-252, 2008.

D. Theilliol, H. Noura and D. Sauter, Fault-tolerant control method for actuator and component faults, the 37th IEEE Conference on Decision and Control, pp. 604-609, Florida, 1998.

Z. Gao and S. X. Ding, Fault estimation and fault-tolerant control for descriptor systems via proportional, multiple-integral and derivative observer design, IET, Control Theory & Applications, vol. 1, pp. 1208-1218, 2007.

R. J. Patton and S. Klinkhieo, Actuator fault estimation and compensation based on an augmented state observer approach, the 48th IEEE Conf. on Decision and Control, pp. 8482-8487, Shanghai, China, 2009.

K. J. B. Zhang and M. Staroswiecki, Dynamic Output Feedback-Fault Tolerant Controller Design for Takagi-Sugeno Fuzzy Systems With Actuator Faults, IEEE Trans. on Fuzzy Systems, vol. 18, pp. 194-201, 2010.

Z. Gao and S. X. Ding, Sensor fault reconstruction and sensor compensation for a class of nonlinear state-space systems via a descriptor system approach, IET Control Theory & Applications, vol. 1 , no. 3, pp. 578-585, 2007.

R. Nazari, M. M. Seron and J. A. De Doná, Fault-tolerant control of systems with convex polytopic linear parameter varying model uncertainty using virtual-sensor-based controller reconfiguration, Annual Reviews in Control, vol. 37, no. 1, pp. 146-153, 2013.

K. Indriawati, A. Jazidie and T. Agustinah, Reconfigurable Controller Based on Fuzzy Descriptor Observer for, Applied Mechanics and Materials, vol. 771, pp. 59-62, 2015.

A. Khedher, K. B. Othman and M. Benrejeb, Active Fault Tolerant Control (FTC) Design for Takagi-Sugeno Fuzzy Systems with Weighting Functions Depending on the FTC, International Journal of Computer Science Issues, vol. 8, no. 3(1), pp. 88-96, 2011.

M. Sami and R. J. Patton, Active Fault Tolerant Control for Nonlinear Systems with Simultaneous Actuator and Sensor Faults, International Journal of Control, Automation, and Systems, vol. 11, no. 6, pp. 1149-1161, 2013.

Z. Gao and H. Wang, Descriptor observer approaches for multivariable systems with measurement noises and application in fault detection and diagnosis, Systems & Control Letters, vol. 55, pp. 304-313, 2006.

C. Edwards, X. G. Yan and S. K. Spurgeon, On the solvability of the constrained Lyapunov problem, IEEE Trans. Automat. Control, vol. 52, no. 10, p. 1982–1987, 2007.

S. Boyd, L. El Ghaoui, E. Feron and V. Balakrishnan, Linear matrix inequalities in systems and control, (SIAM, 1994).

M. Bouattour, M. Chadli, M. Chaabane and A. E. Hajjaji, Design of robust fault detection observer for Takagi-Sugeno models using the descriptor approach, Int J Control Automat & Sys, vol. 9, no. 5, p. 973−979, 2011.

L. Tao, G. Lei, W. Lingyao and W. Xinjiang, Robust fault detection filter design for uncertain LTI systems based on new bounded real lemma, Int J Control, Automat & Sys, vol. 7, no. 4, pp. 644-650, 2009.

K. Ogata, Modern Control Engineering, 4 ed.,(Prentice Hall, 2006).

R. L. Williams and D. A. Lawrence, Linear state-space control systems, (John Wiley & Sons, Inc, 2007).

K. J. Astrom and R. M. Murray, Feedback systems: an introduction for scientists and engineers, (Princenton University Press, 2008).

R. C. Dorf and R. H. Bishop, Moderm Control Systems, (Addison-Wesley Publishing Company, 1995).

Azib, T., Bendali, M., Larouci, C., Hemsas, K.E., Fault tolerant control of interleaved buck converter for automotive application, (2015) International Review of Electrical Engineering (IREE), 10 (3), pp. 336-343.

Muhammed, S., Mathew, A.T., LMI approach for robust control of interval system with time delay, (2015) International Review of Automatic Control (IREACO), 8 (3), pp. 209-219.

Jouili, K., Braiek, N.B., A LMI approach to tracking control of nonlinear polynomial systems, (2015) International Review of Automatic Control (IREACO), 8 (3), pp. 233-243.

Olfa, K., Chaouki, M., Moncef, G., 2-D based robust iterative learning control approach for uncertain linear systems, (2014) International Review of Automatic Control (IREACO), 7 (6), pp. 576-583.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2023 Praise Worthy Prize