Fault Tolerant Control for Uncertain Nonlinear System Against additive and multiplicative Actuator Faults

In this paper, a fault-tolerant control, based on backstepping theory is applied for an uncertain non-linear system with the presence of combined actuator faults (additive and loss of efficiency). This control will be applied to an Inverted-Pendulum System with parametric uncertainties, in order to see its performances with regard to uncertainties and in the presence of defects.