A Backstepping-Based Fault Compensation Scheme For A Class Of Euler-Bernoulli Beam-Ode Cascade Systems

This paper develops a fault compensation scheme for a class of Euler-Bernoulli beam-ODE cascade systems to deal with certain boundary input faults, using a model transform-based backstepping control design. A model transformation is introduced to convert the Euler-Bernoulli beam-ODE cascade system to a Schrodinger-ODE cascade system. The FTC law is designed to compensate boundary input faults for the Schrodinger-ODE cascade system by constructing a normal intermediate system and a new exponentially stable target system. The purposes of the two-step backstepping are to bring in a state feedback and to improve the system performance. The performance of the target system, intermediate system, and Schrodinger-ODE cascade system is analysed in the Riesz basis frame. The stability analysis of the original Euler-Bernoulli beam-ODE cascade system is further provided. Simulation results illustrate the effectiveness of the proposed fault compensation scheme.