SELF-REPAIRING PI/PID CONTROL AGAINST SENSOR FAILURES

摘要

This paper presents a new design method for a self-repairing PI/PID control system against unknown sensor failures. This active fault tolerant control system can automatically replace the failed sensor with the healthy backup if the failure occurs. One of the advantages is that sensor failures of various types can be detected with the integral controller (integrator) and the switching term, and so the structure of the fault detector becomes quite simple independently of plant models. Thus, the system has high robustness with respect to both failures and changes in plant parameters. Furthermore, in order to reduce an influence of the injected switching term on the control performance, the PI and PID controllers are designed based on high-gain feedback. This paper also shows a theoretical analysis of the control performance and explores a numerical simulation to confirm the effectiveness.