Reconfigurable Control for a Class of Nonlinear Time Delay Systems in Presence of Faults

This paper presents a fault-tolerant control (FTC) method for nonlinear systems with delays, based on Lyapunov redesign approach. The method handles actuator faults modeled as additive faults and loss of effectiveness described by a multiplicative factor. The proposed control system combines a nominal controller for normal operation and an additional component to compensate for faults, ensuring system stability. Using Lyapunov redesign principle, the stability of the system is guaranteed even under fault conditions and time delays. Simulation results confirm the effectiveness of the approach and demonstrate its practical use in systems where faults and delays are critical. This work provides a simple yet robust solution to improve reliability in delayed nonlinear systems.