Sensor fault tolerant controller for a double inverted pendulum system

Yang, S.S. and Chen, J. and Mohamed, H.A.F. and Moghavvemi, M. (2008) Sensor fault tolerant controller for a double inverted pendulum system. In: 17th World Congress, International Federation of Automatic Control, IFAC, 6 - 11 July 2008, Seoul, South Korea.

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Abstract

This paper presents an Internal Model Control based structure to realise fault tolerance towards sensor faults. The proposed design implicitly embeds fault detection and controller elements requirements with considerations to stability and robustness towards uncertainties besides multiple faults environment. The performance of the proposed controller is demonstrated via multi input multi output and unstable system i.e. the double inverted pendulum system. Performance of the controller is compared with the well known H controller. Results show the potential of this controller for implementation to handle systems with multiple sensor faults and uncertainties.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Volume 17 Issue 1 PART 1 ISSN: 14746670 ISBN: 978-390266100-5Source DOI: 10.3182/20080706-5-KR-1001.2994
Uncontrolled Keywords: Disturbance rejection; Fault-tolerant; Tracking; Double inverted pendulum systems; Fault-tolerant; Internal model control; Multi input multi output; Multiple faults; Multiple sensors; Sensor fault; Stability and robustness; Tracking; Unstable system
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 27 Mar 2014 04:49
Last Modified: 23 Nov 2017 02:03
URI: http://eprints.um.edu.my/id/eprint/9759

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