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31320 Robust and Fault-tolerant ControlMicha Kramarczyk, s142910Tomasz Sts, s142914DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterAgendaFault-tolerant Control:

Fault detectabilityCUSUM algorithmGLR algorithmState feedback controlVirtual Actuator219 May 2015Add Presentation Title in Footer via Insert; Header & FooterRobust Control:

Steady-state to GCCMaximal output uncertaintyControl reconfigurationFinal simulation results

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterFault detectability319 May 2015

ARRs in symbolic form backtrackingARRs in analitical form and adding faultsTransforming to frequency domain and using Final Value Theorem

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterCUSUM algorithm

419 May 2015Known mean value after fault occuranceTwo-sided CUSUMChoosing the treshold hSimulink implementation

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterGLR algorithm

519 May 2015Unknown mean value after fault occuranceChoosing the window sizeChoosing the treshold hSimulink Implementation

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterState feedback controller619 May 2015

Finding the eigenvalues:

Pole placement

3. Creating the controller and generating time response

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterVirtual actuator

719 May 2015DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterFrom steady-space to GCC819 May 2015

Extracting transfer functionsIncluding weigthsPositive feedbackMatrix P

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterMaximal output uncertainty919 May 2015Introducing the uncertaintyM-structureCalculating M

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterMaximal output uncertainty1019 May 2015Condition for robust stability:

Analysis on Bode plot

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterControl reconfiguration

1119 May 2015Fault detectionFault isolationSwitching between controllers Operating modesDTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterFinal simulation results1219 May 2015

Fault occuranceDetection timeImpact on the output signalUncontrolled situation

DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & FooterThank you!1319 May 2015DTU Electrical Engineering, Technical University of DenmarkAdd Presentation Title in Footer via Insert; Header & Footer


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