CONFAL: a stable-factorization based fault-tolerant controller design software package

This paper describes a controller design software package called CONFAL. It is based on Gundes´ stable factorization approach (1992) to the design of controllers which have fault tolerance in the sense of preserving stability in the face of actuator or sensor failures. The software is implemented in Mathematica, allows for both symbolic and numerical computation in the ring S of stable rational functions and permits complete analysis of linear time-invariant multivariable feedback systems in the standard unity feedback configuration, under multiple sensor or actuator faults, as well as synthesis of controllers which guarantee stability in the most common case of failure of one actuator or one sensor, in the square plant case