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We present a new output feedback fault tolerant control strategy forcontinuous-time linear systems. The strategy combines a digital nominalcontroller under controller-driven (varying) sampling with virtual-actuator(VA)-based controller reconfiguration to compensate for actuator faults. In theproposed scheme, the controller controls both the plant and the samplingperiod, and performs controller reconfiguration by engaging in the loop the VAadapted to the diagnosed fault. The VA also operates under controller-drivensampling. Two independent objectives are considered: (a) closed-loop stabilitywith setpoint tracking and (b) controller reconfiguration under faults. Ourmain contribution is to extend an existing VA-based controller reconfigurationstrategy to systems under controller-driven sampling in such a way that ifobjective (a) is possible under controller-driven sampling (without VA) andobjective (b) is possible under uniform sampling (without controller-drivensampling), then closed-loop stability and setpoint tracking will be preservedunder both healthy and faulty operation for all possible sampling rateevolutions that may be selected by the controller.

Fault-tolerant control under controller-driven sampling using virtual actuator strategy