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This paper introduces a fault detection and adaptive controller reconfiguration that can determine online stable and free offset errors performance, detect faults quickly, and reconfigure the controller accordingly using recursive autoregressive exogenous estimator (RARX). A fault detection and controller system consists of two main parts: the first is the fault detection and the second is the controller reconfiguration. For the first issue, we propose a simple scheme for detecting faults with RARX estimator. For the second issue, we consider and install a digital adaptive controller with pole replacement. Simulations for the suggested system are illustrated and analyzed.

RARX Estimator and Gain Scheduling Controller for On-Line Fault Detection Controller