Self-repairing control via nonlinear high-gain feedback

This paper presents two new design methods for self-repairing control systems (SRCSs) based on nonlinear high-gain feedback. The SRCS can replace the failed sensor with the back-up. For self-repairing against sensor failures, the nonlinear detection filter is utilized, that has a finite escape time if the sensor fails. Monitoring the diverging signal from the detection filter makes it possible to detect failures exactly and fast. In Design I, the modified version of the SRCS presented in the previous work [7], is shown. In Design II, the SRCS is modified based on nonlinear high-gain feedback, that does not contain the plant parameters. Therefore, it has high robustness with respect to parameter variations.