Observer/Controller Identification for the Compensation of the Fault-Tolerant Control-Input

• Main Authors: Ming-ShienLiu, 劉閔咸
• Other Authors: Sheng-Hong Tsai
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/w44ek5

碩士 === 國立成功大學 === 電機工程學系 === 102 === This thesis proposes a new observer/controller identification (OCID) with the fault-tolerant control-input for the unknown closed-loop system with the assigned eigensystem realization algorithm (ERA).The principle idea is to satisfy when the controller of the system is broken, we can use the OCID to do compensation for the controller, without losing the good tracking performance as possible. First, the observer/Kalman filter identification (OKID) is utilized to identify the unknown linear/nonlinear system into the equivalent mathematical model. The equivalent mathematical model is used as an analytic and designed tool for the controller and observer. And then, we use OCID to identify the closed-loop system into the equivalent mathematical model. The parameters of the model can be used to analyze the current status of the controller in order to do compensation of the fault-tolerant control-input for the system. However, the traditional OCID has poor performance in compensation case. That is the tracking error in the initial state is large. Therefore, this thesis offers a method called the assigned ERA to improve the tracking performance. Finally, illustrative examples demonstrate the effectiveness of the proposed design.