Actuator fault tolerance evaluation of Linear Constrained Robust Model Predictive Control

This paper presents a computational procedure to evaluate the admissibility of actuator fault configurations when Linear Constrained Robust Model Predictive Control (LCRMPC) is used taking into account model uncertainty. The admissible solution set for the predictive control problem including the effect of faults (either through reconfiguration or accommodation) is determined using a zonotope-based algorithm. Finally, the proposed method is tested on a real application consisting on a piece of the Barcelona sewer network.