Robust ℌ∞ actuator fault diagnosis and fault-tolerant control for a multi-tank system

The paper deals with the problem of robust fault tolerant control (FTC) for non-linear systems. Main part of this paper describes a robust fault detection, isolation and identification scheme, which is based on the observer and ℌ_∞ framework for a class of non-linear systems. The proposed approach is designed in such a way that a prescribed disturbance attenuation level is achieved with respect to the actuator fault estimation error while guaranteeing the convergence of the observer. Moreover, the controller parameters selection method of the considered system is presented. Final part of the paper shows the experimental results, which confirms the effectiveness of proposed approach.