Reconfigurable Tracking Controller for a Four-Tank System Benchmark via Eigenstructure Assignment

In this paper the problem of partial actuator failure in a Four-Tank Multi-Input Multi-Output (MIMO) system benchmark is dealt with. A reconfigurable state feedback controller based on Parametric Eigenstructure Assignment (PEA) technique is used to tolerate the faults in actuators. The proposed controller is simulated for various fault scenarios. The performance of the controller is compared with the case that there is no reconfiguration in controller using the Integral Absolute Error (IAE) index. The results show the tolerance of the proposed controller against actuator faults and its ability to compensate for them.

Keywords:

Reconfigurable Controller (RC) , Fault Tolerant Control (FTC) , state feedback , Parametric Eigenstucture Assignment (PEA)