By Thomas Steffen
Reconfiguration, an strategy for fault-tolerant regulate, consists of altering the regulate constitution according to the fault. This monograph extends this concept to actuator faults and experiences intimately the so-called digital actuator technique. "Control Reconfiguration of Dynamical structures" additionally introduces structural research as a device for reconfiguration. simply because a fault adjustments the constitution of the approach, the reconfiguration resolution is sought on a structural point. Novel algorithms are awarded to check for reconfigurability and to discover a reconfiguration answer. A MATLAB toolbox is equipped, which includes the most algorithms and examples. The ebook addresses complicated engineering scholars, builders and researchers that experience a particular curiosity on top of things reconfiguration.
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Extra info for Control Reconfiguration of Dynamical Systems: Linear Approaches and Structural Tests
Since q itself cannot be measured, the level x2 of the right tank is used as the relevant value, and the level necessary to reach the desired outﬂow q0 is used as a reference w2 . The left tank has an outlet via a valve d, which can be used to simulate a leak in this tank. Torricelli’s law deﬁnes the ﬂow through a valve as proportional to the square root of the pressure (which is proportional to the level) and to its cross-section (the input). For the given system and under the assumption x1 > h > x2 , the ﬂows through the two valves are q12 = ku2 x1 − h √ q0 = k x2 .
However, the idea of reconﬁguration is to build on the existing control structure and to change it only where necessary. Therefore, the nominal controller is used as a basis for the construction of the reconﬁgured controller. As already discussed, the faulty plant oﬀers diﬀerent control input and output variables, compared to the variables used by the nominal controller. For a successful reconﬁguration, it is usually necessary that the set of eﬀective control signals is not only restricted due to the fault, but also extended by control signals, which were not used by the nominal controller.
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. It is diﬃcult to provide a general framework for these soft goals, but they will be considered for the reconﬁguration design in some of the algorithms in Part II. 7) ∀t ∈ R+ : z(t) = zf (t) for all input trajectories d(t) and w(t) and all initial states x0 .