A Robust <italic>H</italic>&#x221E; Fault Tolerant Controller for Uncertain Systems Described by Linear Fractional Transformation Model

Abstract

In this article, a robust $H_{\infty }$ fault tolerant control law is addressed for a class of the uncertain dynamical systems represented via linear fractional transformation. To this objective, a state-feedback controller law is utilized for achieving the control objective. Thus, a linear matrix inequality based performance condition would be derived to guarantee that the disturbance suppression is accomplished in the uncertain system. Hence, the gains of the robust $H_{\infty }$ controller would be suitably determined by checking the feasibility of such a linear matrix inequality problem. The proposed control technique is numerically simulated in two dynamical uncertain systems (i.e., a typical control system and a mechanical robotic arm). Considering the disturbance rejections and transient responses, the results illustrate the efficiency of the recommended robust technique compared with the existing control methods.

Keywords

• H∞ fault tolerant controller%22%2C%22default_operator%22%3A%22AND%22%7D%7D%7D"> Robust <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H</italic>∞ fault tolerant controller
• uncertain control systems
• linear fractional transformation
• linear matrix inequality