Feedback Linearization Based Fault Tolerant Control for Affine Non-linear Systems

In this paper, a feedback linearization based fault-tolerant control for affine non-linear systems with actuator fault is studied. Based on the feedback linearization, an affine nonlinear system is transformed into a linear system. By using the linear quadratic regulator (LQR), optimal control policy is obtained in fault-free condition and then using adaptive compensator, the effect of constant and time-varying faults is alleviated. Finally, with a simulation example, the effectiveness of the proposed method is demonstrated.