Real time implementation of robust observer based sensor and actuator fault tolerant tracking control for a DC motor system

This paper discusses about experiment results of a real time implementation of a sensor and an actuator fault tolerant tracking control (FTTC) system in a DC motor plant. This system contains an estimation scheme based on a single robust observer and reconfigurable control using an existing controller based on fault compensation technique. The robust stability and the pole placement of the proposed observer are formulated in terms of linear matrix inequalities (LMIs) so the influence of noises and disturbances is attenuated besides its stability as well as time response requirements keep being guaranteed. The considered operating condition of the DC motor plant is wide range thus the fuzzy Takagi-Sugeno (T-S) model approach is adopted. Some experiments are conducted in order to show the system performance in accommodating the faults even if there are speed reference changes and load presence.