A faulty sensor may lead to degraded system performance, unstable system, or even a fatal accident. On the other hand, the increasing need for safety and reliability has motivated the development of fault-tolerant control (FTC) techniques. This paper proposes a robust fault-tolerant gain-scheduled noisy output-feedback controller (GSNOF) that guarantees system stability and performance in the presence of sensor aging under control input constraints, where the sensor performance degradation due to aging is modeled by its measurement noisy covariance. The closed-loop system stability and performance, in terms of numerical complexity, computation time, and H_2 performance, are studied. The proposed controller is compared in simulations with the published results, which shows that the proposed controller is capable of guaranteeing the stability, performance with reduced numerical complexity and computation load under gradual sensor performance degradation, and it is feasible for real-time control.
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