Abrupt and incipient fault detection and compensation for a 4-tank system benchmark

Fault detection and compensation play a key role in enhancing the high demand for performance and security in technological systems. This paper proposes an active fault-tolerant control scheme that detects and compensates for actuator faults in a 4-tank system benchmark. The faults are modeled as a drastic gain loss in actuators (pumps), which could lead to a large loss in the nominal performance. The model-based approach uses a recursive least squares parameter estimation algorithm to form a fault detection and diagnosis subsystem and utilizes a parametric eigenstructure assignment method to reconfigure the state feedback controller. The designed controller is simulated for the nonlinear system, and the results demonstrate promising performance increases in faulty cases in comparison with the nonfault-tolerant controller.

Abrupt and incipient fault detection and compensation for a 4-tank system benchmark

Fault detection and compensation play a key role in enhancing the high demand for performance and security in technological systems. This paper proposes an active fault-tolerant control scheme that detects and compensates for actuator faults in a 4-tank system benchmark. The faults are modeled as a drastic gain loss in actuators (pumps), which could lead to a large loss in the nominal performance. The model-based approach uses a recursive least squares parameter estimation algorithm to form a fault detection and diagnosis subsystem and utilizes a parametric eigenstructure assignment method to reconfigure the state feedback controller. The designed controller is simulated for the nonlinear system, and the results demonstrate promising performance increases in faulty cases in comparison with the nonfault-tolerant controller.

___

  • 200 400 600 Time (s) 200 400 600 Time (s) 200 400 600 Time (s) 200 400 600 Time (s) Figure 12. Known and estimated parameter values. Y. Zhang, J. Jiang, “Bibliographical review on reconfigurable fault-tolerant control systems”, Annual Reviews in Control, Vol. 32, pp. 229–252, 2008.
  • M. Muenchhof, M. Beck, R. Isermann, “Fault-tolerant actuators and drives—structures, fault detection principles and applications”, Annual Reviews in Control, Vol. 33, pp. 136–148, 2009.
  • J.S. Eterno, J.L. Weiss, D.P. Looze, A.S. Willsky, “Design issues for fault tolerant-restructurable aircraft control”, 24th IEEE Conference on Decision and Control, pp. 900–905, 1985.
  • S.X. Ding, “Integrated design of feedback controllers and fault detectors”, Annual Reviews in Control, Vol. 33, pp. 124–135, 2009.
  • L. Mendon¸ca, J. Sousa, J. S´a da Costa, “Fault tolerant control of a three tank benchmark using weighted predictive control”, Foundations of Fuzzy Logic and Soft Computing, Vol. 4529, pp. 732–742, 2007.
  • M. Fang, Y. Tian, L. Guo, “Fault diagnosis of nonlinear system based on generalized observer”, Applied Mathematics and Computation, Vol. 185, pp. 1131–1137, 2007.
  • C. Join, H. Sira-Ramirez, M. Flies, “Control of an uncertain three-tank system via online parameter identification and fault detection”, Proceedings of the 16th IFAC, 2005.
  • H. Noura, D. Theilliol, D. Sauter, “Actuator fault-tolerant control design: demonstration on a three-tank-system”, International Journal of Systems Science, Vol. 31, pp. 1143–1155, 2000.
  • M. Hou, Y.S. Xiong, R.J. Patton, “Observing a three-tank system”, IEEE Transactions on Control Systems Technology, Vol. 13, pp. 478–484, 2005.
  • L. Li, D. Zhou, “Fast and robust fault diagnosis for a class of nonlinear systems: detectability analysis”, Computers and Chemical Engineering, Vol. 28, pp. 2635–2646, 2004.
  • A. Casavola, D. Famularo, G. Franze, A. Furfaro, “A fault-tolerant real-time supervisory scheme for an intercon- nected four-tank system”, American Control Conference, pp. 6210–6215, 2010.
  • N. Orani, A. Pisano, E. Usai, “Fault detection and reconstruction for a three-tank system via high-order sliding- mode observer”, IEEE Conference on Control Applications and Intelligent Control, pp. 1714–1719, 2009.
  • V. Dardinier-Maron, F. Hamelin, H. Noura, “A fault-tolerant control design against major actuator failures: application to a three-tank system”, Proceedings of the 38th IEEE Conference on Decision and Control, Vol. 4, pp. 3569–3574, 1999.
  • Y. Diao, K.M. Passino, “Intelligent fault-tolerant control using adaptive and learning methods”, Control Engineering Practice, Vol. 10, pp. 801–817, 2002.
  • V. Puig, F. Schmid, J. Quevedo, B. Pulido, “A new fault diagnosis algorithm that improves the integration of fault detection and isolation”, 44th IEEE Conference on Decision and Control, 2005 European Control Conference, pp. 3809–3814, 2005.
  • K.H. Johansson, “The quadruple-tank process: a multivariable laboratory process with an adjustable zero”, IEEE Transactions on Control Systems Technology, Vol. 8, pp. 456–465, 2000.
  • K.J. Astrom, M. Lundh, “Lund control program combines theory with hands-on experience”, IEEE Transactions on Control Systems Technology, Vol. 12, pp. 22–30, 1992.
  • K. Astrom, A.B. Ostberg, “A teaching laboratory for process control”, Control Systems Magazine, Vol. 6, pp. 37–42, 19 V.D. Vegte, Feedback Control Systems, Upper Saddle River, NJ, USA, Prentice Hall, 2002.
  • P. Ioannou, B. Fidan, Adaptive Control Tutorial, Philadelphia, PA, USA, SIAM, 2003.