Gap metric-based fault detection and fault-tolerant control for uncertain systems

The fault detection and fault-tolerant control is researched for systems with model uncertainties based on gap metric. Firstly, by the aid of the coprime factorization technique, the mathematical models are established for uncertain systems and systems with multiplicative faults. Secondly, an observer-based control law is employed and the fault detection residual scheme is designed. The necessary condition on successful fault detection is presented with gap metric. Finally, the fault-tolerant controller design method is presented. The effectiveness of the proposed method is illustrated by a numerical example.