Embedding FDI in launcher attitude controllers

It looks interesting the idea of obtaining more than a controller after designing a control system. In fact, given some conditions, it is possible to rearrange the controller states, revealing an observer structure, without changing the original system. Such proposition does not only means that the estimations of the plant states are available, but also that fault estimators can be built, providing an unexpected horizon of fault tolerance and even control reconfiguration. In order to illustrate that, a generalization aimed at obtaining observer-based forms from augmented, reduced or full order controllers will be applied to a launcher model, subject to sensor faults and external disturbance.