Adaptive actuator fault estimation for DC servo motor

Abstract

The paper present the problem of robust adaptive actuator fault estimation for linear discrete-time systems. The main part of this paper presents problem of design a robust observer that will be able to estimate state vector of the system, actuator fault and decoupling the effect of an unknown input. For that purpose, the structure for robust observer was proposed. The first part of the paper deals with the design of observer. The observer is designed in such a way that a prescribed attenuation level is achieved with respect to the fault estimation error and state estimation error. The subsequent part of the paper deals with laboratory system of DC servo motor that will be used in experiment. The final part of the paper shows the experimental results for DC servo motor system, which confirm the effectiveness of the proposed approach.