Increased fault tolerance through generalized pi control

Resumen: Closed-loop systems, due to their robustness, have a certain level of fault tolerance. This paper proposes a procedure, for non-linear systems with Euler-Lagrange (EL) structure, which allows to increase the fault size that can be tolerated by closed-loop systems. The result uses a cascade scheme to compensate the effect of the faults, as an external control a generalized proportional integral (PI) controller was selected, which has an observer who jointly estimates faults, perturbations and uncertain terms and then cancels their effect in the control stage. The main advantages of the proposed method are that it allows the nominal control to be preserved without alterations and that it requires a minimum of information about the system and the closed loop, making it easy to implement. It is shown by means of a simulation example, a pendulum, the effectiveness of the proposed method.

¿Cómo citar?

Ivon elena Leal Leal & Efraín Alcorta-García. Increased fault tolerance through generalized pi control. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

cascade scheme, generalized PI controller, fault tolerance, non-linear system, observer

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