Premium
Almost fault‐tolerant tracking
Author(s) -
Stefanovski Jovan D.
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4876
Subject(s) - feed forward , control theory (sociology) , decoupling (probability) , block (permutation group theory) , controller (irrigation) , fault tolerance , tracking (education) , computer science , control engineering , mathematics , control (management) , engineering , artificial intelligence , pedagogy , geometry , biology , psychology , agronomy , distributed computing
Summary A new formulation of the problem of almost fault‐tolerant perfect tracking in presence of disturbances is presented, and necessary and sufficient existence conditions are found, as well as a controller, which consists of a feedback block and two feedforward blocks. The feedback block is aimed for almost disturbance and fault decoupling, and the feedforward blocks are aimed for almost perfect tracking. A two‐step control design procedure such that the feedback block is designed independently of the feedforward blocks is presented. In order to simplify the necessary and sufficient existence conditions, as well as to present a physical interpretation of the existence conditions, the dimension of disturbance and fault vectors is reduced. In order to find a feedback controller, the physical interpretation of the existence conditions is used so that the four‐block‐type problem is transformed to a two‐block‐type problem. Examples are given, which illustrate that the controller of the article is practically realizable.