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An H-infinity model predictive fault-tolerant control strategy is proposed for multi-phase batch processes with interval delay and actuator failures. First, state variables, state errors and output tracking errors are introduced to establish an extended-state-space switched system model. Then, based on this model, a predictive fault-tolerant control law is designed for tracking the set point by the output that satisfies the requirements of the optimal performance index under input and output constraints. The feasibility conditions for the solvability of the control law are presented in the form of linear matrix inequalities. In addition, the designed switching law is constructed, and the gain of the control law is obtained via the optimization algorithm. This design has several advantages: the output tracking is faster, the tracking performance is superior, and the trace is smoother at the switching time. Finally, through a comparison with traditional methods, the effectiveness and feasibility of this method are demonstrated via injection molding simulation.

Improved H-Infinity Hybrid Model Predictive Fault-Tolerant Control for Time-Delayed Batch Processes Against Disturbances