A fault detection and accommodation method applied to an inverted pendulum

This paper describes a fault detection and accommodation algorithm. The approach used in this paper uses a parameter estimation algorithm in order to detect the failure and to estimate the parameters of the failed system. These new parameters are then used to compute the new control law able to preserve the safety of the system. This approach is applied to a simulated inverted pendulum. Some state variables of this system are not measurable, hence a simultaneous estimation of states and parameters is used to control the system and to accommodate the failure when it occurs