Robust Fault-Tolerant Control Based on Set-Membership Estimation and Tube MPC

A robust fault-tolerant control method based on set-membership estimation and tube model predictive control (MPC) is proposed for the constrained linear systems subject to unknown disturbance and noise. Firstly, an augmented observer is used to estimate state and fault simultaneously. A fault-tolerant controller is proposed based on the state and fault estimation. And the estimation and feedback errors are bounded using set-membership estimation method. Then, the obtained error sets are used to design robust output feedback tube MPC strategy. In order to make the estimation error robust against disturbance and noise, the observer gain is designed based on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">L</i><sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> method. Finally, the effectiveness and real-time performance of the proposed method is verified by a hardware-in-the-loop (HIL) test, which shows its potential application value in aeroengine control systems.