Actuator fault diagnosis system design and verification for ball on plate system

Abstract

The paper deals with the fault diagnosis methodology design for fault detection, localization, estimation and accommodation in a predictive control algorithm. The result of the proposed methodology realization is control and fault diagnosis system, which has a capability of actuators fault tolerance. The fault diagnosis system design is based on the group of unknown input observers. The fault diagnosis system and predictive control algorithm with fault accommodation are implemented in MATLAB. The designed algorithms, which are presented in this paper, are verified by simulations using the simulation model of the Ball on Plate system.