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Active fault tolerant control of nonlinear systems: The cart-pole example

Marcello BonfèPaolo CastaldiNicola MimmoSilvio Simani — 2011

International Journal of Applied Mathematics and Computer Science

This paper describes the design of fault diagnosis and active fault tolerant control schemes that can be developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach, which allows obtaining the disturbance de-coupling property. The controller reconfiguration exploits directly the on-line estimate of the fault signal. The classical model of an inverted pendulum on a cart is considered...

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