By Thomas Steffen
Reconfiguration, an strategy for fault-tolerant regulate, includes altering the keep watch over constitution in line with the fault. This monograph extends this concept to actuator faults and reviews intimately the so-called digital actuator method. "Control Reconfiguration of Dynamical structures" additionally introduces structural research as a device for reconfiguration. simply because a fault adjustments the constitution of the method, the reconfiguration answer is sought on a structural point. Novel algorithms are provided to check for reconfigurability and to discover a reconfiguration answer. A MATLAB toolbox is equipped, which incorporates the most algorithms and examples. The ebook addresses complex engineering scholars, builders and researchers that experience a particular curiosity on top of things reconfiguration.
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Additional info for Control Reconfiguration of Dynamical Systems: Linear Approaches and Structural Tests
The condition applies to both the state and the input of the plant. For any controller that uses minimal control energy, the later follows from the former. The weak reconﬁguration goal requires that the reconﬁgured control loop has the same stationary behaviour as the nominal loop. 6) for all constant input signals d and w and all initial states x0 . The strong reconﬁguration goal goes further: it requires that the dynamical behaviour is identical, too. 3 Strong reconﬁguration goal A reconﬁgured control loop satisﬁes the strong reconﬁguration goal, if and only 6 In addition to these goals, further soft performance goals like a certain attenuation of disturbance or a maximum settling time may be given.
2. During a typical controller design process, the objective is updated several times by trial and error until it leads to an acceptable result. This means that the working objective leads to acceptable parameters in the controller design algorithm, but it may not precisely reﬂect the initial system requirements. The actual system requirements may be more complicated and possibly too complex to be useful for the given controller design algorithm. 5 Note that imposing this structure does not restrict the set of solution, but it gives a starting point for the automatic design of the reconﬁguration block and therefore the reconﬁguration of the loop.
2). 3 Reconﬁguration Goals 45 The linearisation of the faulty plant may lead to an additive oﬀset in the diﬀerential equation, because the linearisation point is not an equilibrium. This oﬀset can easily be modelled by adding another disturbance variable that is always set to 1. The corresponding column in Bd can then take the oﬀset vector. Therefore it can be assumed without loss of generality, that the linearised system has the given form. Note that this way of modelling an oﬀset does not interfere with the assumption that Bd is unchanged by the fault.