Reconfigurable Control of Nonlinear Dynamical Systems A Fault-Hiding
This research monograph summarises solutions to reconfigurable fault-tolerant control problems for nonlinear dynamical systems that are based on the fault-hiding principle. It emphasises but is not limited to complete actuator and sensor failures. In the
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Jan H. Richter
Reconfigurable Control of Nonlinear Dynamical Systems A Fault-Hiding Approach
ABC
Series Advisory Board P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Author Dr. Ing. Jan H. Richter Ruhr-Universität Bochum Institute for Automation and Computer Control Universitätsstrasse 150 44801 Bochum Germany E-mail: [email protected]
ISBN 978-3-642-17627-2
e-ISBN 978-3-642-17628-9
DOI 10.1007/978-3-642-17628-9 Lecture Notes in Control and Information Sciences c 2011
ISSN 0170-8643
Springer-Verlag Berlin Heidelberg
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Printed in acid-free paper 543210 springer.com
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Preface
This monograph is about control reconfiguration in fault-tolerant control, which is presently subject to vivid discussion in the literature. The monograph contributes to the control reconfiguration of nonlinear dynamical systems, which are not yet as broadly covered as linear systems. It summarises some of the outcomes of five years of research while I was a PhD associate at the Institute of Automation and Computer Control (ATP) at Ruhr-Universität in Bochum, Germany. The progress summarised in this monograph would not have been possible without the support of several people. I would like to express my special gratitude to my supervisor Prof. Jan Lunze for his perpetual advice and support. My gratitude is extended to Maurice Heemels for introducing me to hybrid systems, to Nathan van de Wouw for sharing his insight on convergence and piecewise affine systems, and to Siep Weiland for several fruitful discussions on linear geometric control theory and the Youla parameterisation. I also owe thanks to all my colleagues in Bochum. Special thanks go to Axel Schild for ever-interesting and humorous discussions, with whom I shared an office. Also, I thank Carsten Fritsch, Tobias Kleinert, Jörg Neidig and Philipp Planchon for frequent and very helpful discussions. My thanks for proof-reading the manuscript go to Ozan Demir, Jan Falkenhain, Daniel Lehmann, Plinio de Leon, Yannick Nke, Jörg Pfahler, Axel Schild, and Thorsten Schlage. My students Steffen Adelt, Maurice Caspar, Thomas Jakubowski, Daniel Lehmann, Christiane Leuer, Daniel Meyer, Christian O
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