Abstract A new formulation of the fault-tolerant control (FTC) problem in presence of disturbances is given, based on fault estimation (FE). Two solutions/controllers to this problem are given. The first one is a new controller that includes a fault estimator, a nominal controller and a fault accommodation block. This controller requires the strict conditions that the nominal controller is stable, and that the transfer matrix of the fault accommodation block is also stable. The second controller does not require these strict conditions, and is obtained by unifying the three blocks of the first controller, in a single controller whose realization is minimal. Therefore, it does not include a fault estimator. A dedicated fault estimator can be added out of the control loop, in order to monitor the performance of the FTC, as defined in the new problem formulation. With respect to the literature, the two controllers can be applied to a larger class of systems, because of the weaker assumptions. An example is presented, which illustrates with comparison, that the controller of the paper has better properties in respect to existing controllers.

中文翻译：

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基于故障估计的扰动容错控制

摘要 基于故障估计（FE），给出了存在干扰时容错控制（FTC）问题的新公式。给出了这个问题的两个解决方案/控制器。第一个是新控制器，包括故障估计器、标称控制器和故障调节块。该控制器要求标称控制器稳定且故障调节块的传递矩阵也稳定的严格条件。第二个控制器不需要这些严格的条件，它是通过将第一个控制器的三个块统一在一个实现最少的单个控制器中获得的。因此，它不包括故障估计器。可以在控制回路之外添加专用故障估计器，以监控 FTC 的性能，如新问题公式中所定义。就文献而言，由于较弱的假设，这两个控制器可以应用于更大的系统类别。给出了一个例子，通过对比说明本文的控制器相对于现有控制器具有更好的特性。