Controller reconfiguration design based on stability analysis

Two improved controller reconfiguration approaches are proposed based on the stabilization goal. For a class of single-variable systems, aimed at defects of reconfiguration using the static gains of their transfer functions to compensate for the failure loop with stability ignored, an algorithm of control law rescheduling via Routh Criterion or root locus is presented which can ensure the stability of each inner loop in the reconfigured system. For a class of multivariable systems, in order to avoid the phenomenon that pseudo-inverse method (PIM) may lead to instability, a stability-guaranteed pseudo-inverse reconfiguration method is also put forward. Simulation results show the effectiveness of two modified methods.