Towards a process fault-tolerant iterative learning control for dynamic systems*

The paper presents further work on combining Iterative Learning Control (ILC) with Fault-Tolerant Control. Main goals here are to drive the considered plant to the prescribed reference with simultaneous elimination of the effect of possible process faults. The first result presented is about designing the fault estimator and linking it with the original plant. Next, for a such an extended system the ILC scheme is provided. Since the system is occupied by the process and measurement uncertainties, the fault observer along with the ILC controller are designed under the H∞ regime. The proposed control strategy is verified with application to the DC servo motor.