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In this paper, an active approach for designing Fault Tolerant Controller (FTC) is proposed. This aprroach utilizes the idea of dynamical observer for simultaneous estimation of system states and faults. The main advantage of the dynamical observer is looking at the simultaneous estimation of system states and faults purely as a robust control problem. In this proposed approach, the controller has a fixed structure and there is no need to reconfiguration of the controller to accommodate or compensate the effect of the faults occurred in the system which makes the proposed approach practical for real systems. The control law is a linear function of the system states and estimated faults and is designed to keep the closed loop system asymptotically stable and the performance of the closed loop system in an acceptable level in the presence of faults and disturbances. A constructive algorithm based on Linear Matrix Inequality (LMI) is presented for FTC design. The merit of the proposed control scheme has been verified by the simulation on the four-tank process subjected to the actuator faults.

Keywords: Fault Tolerant Controller (FTC), Fault Reconstruction, Fault Detection and Isolation (FDI), Linear Matrix Inequality (LMI), Dynamical Observer.

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