Fault Tolerant Control for Polynomial Linear Parameter Varying (LPV) Systems applied to the stabilization of a riderless bicycle

This paper presents the results of a Fault Tolerant Control based on observers for polynomial LPV systems. The main contribution lies in observers, controller, Fault Diagnosis and Isolation unit and Fault Tolerant Control (FTC) design procedure, based on the solution of Parameterized Linear Matrix Inequalities (PLMI) with application to a riderless bicycle dynamics. Further, unlike previous works, this approach takes for its design only the measured outputs provided by the in-built bicycle prototype sensors, eliminating the necessity of additional computations for the control law. The previous fact is viewed as an additional contribution in this development.