Sensor fault tolerant controller for a double inverted pendulum system
Document Type
Conference Item
Publication Date
1-1-2008
Abstract
This paper presents an Internal Model Control based structure to realise fault tolerance towards sensor faults. The proposed design implicitly embeds fault detection and controller elements requirements with considerations to stability and robustness towards uncertainties besides multiple faults environment. The performance of the proposed controller is demonstrated via multi input multi output and unstable system i.e. the double inverted pendulum system. Performance of the controller is compared with the well known H controller. Results show the potential of this controller for implementation to handle systems with multiple sensor faults and uncertainties.
Keywords
Disturbance rejection, Fault-tolerant, Tracking, Double inverted pendulum systems, Fault-tolerant, Internal model control, Multi input multi output, Multiple faults, Multiple sensors, Sensor fault, Stability and robustness, Tracking, Unstable system
Divisions
fac_eng
Event Title
17th World Congress, International Federation of Automatic Control, IFAC
Event Location
Seoul, South Korea
Event Dates
6 - 11 July 2008
Event Type
conference
Additional Information
Volume 17 Issue 1 PART 1 ISSN: 14746670 ISBN: 978-390266100-5Source DOI: 10.3182/20080706-5-KR-1001.2994