Fault tolerant control applied on an inverted pendulum by using extended Kalman filter

A system fault detection and compensation is described in this paper. Detection and identification task is performed by estimating the parameter that is directly related to potential fault. An extended Kalman filter is used to estimate the fault-related parameter, while compensation of fault is done by using a switching controller. This method is implemented on an inverted pendulum to evaluate its performance. This fault tolerant control scheme is tested by changing the mass of inverted pendulum cart. Simulation results are presented to validate the effectiveness of the method.