Actuator Fault Tolerant LQG Control of a Water Delivery Canal

• Author(s): Lemos, João ; Sampaio, Inês ; Rijo, Manuel ; Rato, Luís
• Date: 2013
• Persistent ID: http://hdl.handle.net/10174/9078
• Origin: Repositório Científico da Universidade de Évora
• Subject(s): Water delivery canals; canal control; Actuator fault; LQG controller
• Document Type: Part of book or chapter of book
• Language: English

Description

The problem of reconfiguration of the control system to mitigate the effects of actuator faults in a water delivery canal is addressed in this paper. When a fault in an actuator is detected and isolated, the controller is reconfigured by changing the set of manipulated and process variables and using a different controller, associated to a different plant model, in a hybrid systems framework. In order to prevent instability that may be associated with switching among controllers, a dwell time condition is used. Both centralized and distributed control, a game approach is followed to coordinate the different local controllers. Experimental results are presented.