Active fault-tolerant control of a double inverted pendulum

This paper proposes an active fault-tolerant control scheme based on a gain-scheduled H-infinity design strategy. Under the assumption that the effects of faults on the system can be of affine parameter dependence, a reconfigurable robust H-infinity controller is developed. The resulting controller is a function of the fault effect factors, which can be derived online from the residual vector of the fault detection and isolation (FDI) mechanism. To demonstrate the effectiveness of the proposed method, a non-linear double inverted pendulum system with a fault in the motor tachometer loop is considered. The adaptive fault-tolerant controller recovers well from the unstable system with loop failure.