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In this paper, an integrated design scheme of fault estimation (FE) and fault-tolerant control (FTC) is presented for a closed-loop system with uncertain short delay. Firstly, a closed-loop system with uncertain short delay is modeled as a system with uncertain parameters, and a bi-directional robustness interaction of uncertainty between the observer and the control system is analyzed. Then a fault estimation observer and a fault-tolerant controller are constructed, and the integrated design problem is converted into a robust control problem for the augmented system under <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> performance index. Furthermore, the parameters of the fault estimation observer and fault-tolerant controller are solved by Lyapunov function and relaxation methods. Finally, the effectiveness and superiority of the proposed method are verified by an aircraft simulation.

Integrated Design of Fault Estimation and Fault-Tolerant Control for Closed-Loop Systems With Uncertain Short Delay