Fault Tolerant Control of a Two-Tank System Using Lyapunov Redesign

The design of a stabilizing controller for uncertain nonlinear systems with control constraints is a challenging problem. This paper proposes a fault-tolerant control method for a class of uncertain nonlinear systems with actuator faults, based on the Lyapunov redesign principle. First, an assumption is introduced to design the control of the nominal system. Then, a new control law is proposed to address the challenges posed by actuator faults and system uncertainties. It is shown that both actuator faults and uncertainties can be completely compensated by the proposed nonlinear controller. Finally, the method is applied to a two-tank system to demonstrate its effectiveness in a practical stabilization and control context.