Real-time correction of dc servo motor and controller failures using analog checksums

Recently optimal controller design for real-time systems has been a prominent research focus for their application in intelligent autonomous systems. However, in the future it will be extremely important for real-time monitoring of safety-critical applications for their reliability. In this paper, we extend the theory for real-time compensation of transient errors and permanent faults in linear control systems derived from a low-overhead error detection scheme developed for plant-controller systems. The approach is demonstrated for transient error correction and parametric fault compensation on a servo-motor control application.