An uncoupled state multiobserver based fault tolerant multicontrollers for nonlinear systems

This paper deals with the fault tolerant tracking multimodel control for nonlinear systems. The considered nonlinear system is modeled by an uncoupled state multimodel where its activation fonctions are depending on a new decision variable. The proposed active multimodel control strategy needs basically an actuator fault informations module and a control reconfiguration bloc. Therefore, a proportional multi-integral multiobserver, based on the uncoupled multimodel, is designed allowing a simultaneous state variables and actuator fault estimation. Sufficient conditions are developed and formulated by Linear Matrix Inequalities (LMIs) to study the stability of the proposed multiobserver. Then, a fault tolerant control strategy based on multicontrollers is elaborated to accommodate the actuator fault effect. Finally, a numerical example is performed to prove the performance of the proposed multiobserver and to evaluate the effectiveness of the proposed multimodel control strategy.