1.

INTRODUCTION
The study of the fault-tolerant control (FTC) system, which
can guarantee the satisfactory performance when all the
components in the system are not only operational but also
faulty, has received considerable attention [1-5]. T-S fuzzy
models are universal approximators of any smoothly
non-linear system on a compact set [6]. Such models can
formulate a large class of nonlinear systems, which consists
of a set of local linear models smoothly connected by some
membership functions. The stability analysis and control
design of the nonlinear systems can be investigated by
linear system theory. In virtue of this advantage, there have
been a few results on the fault-tolerant control problem for
T-S fuzzy systems [7-8]. In [7], a robust tolerant controller
was designed to guarantee robust stability of the nonlinear
systems with uncertainties and time delays. Based on a new
modeling method, the problem of FTC for networked
control system was investigated in [8].
It should be noted that the results above on the FTC systems
are all based on an assumption that control component
faults are modeled as outages [9]. In practical situations, the
faults of all control components are random or time-varying
in nature, which possibly induce successive faults with
various degree of severity. In the past few years, some
improved results are obtained in the open literature [10-13].
In [10], the H

control for T-S fuzzy systems with time

varying delay and actuator faults was considered, which
actuator faults contain scaling factors with given upper and
lower bounds. Procedures for designing reliable controllers
are presented for linear systems with sensor and actuator
failures that were modeled by both scaling factor and
disturbance in [11]. Following [11], the reliable fuzzy
control problem with domain guaranteed cost for fuzzy
systems with actuator faults was addressed [12]. But in

This work is supported by National Nature Science Foundation under
Grant 60874019, 90820014; the Shanxi Province Natural Science Foundation
under Grant 2009011016-1
those literatures above, the fault model only contains single
fault mode. Recently, a class of faulty switched system was
constructed to model various faulty nonlinear systems in
[13]. However, it is not mentioned how to construct the
fault modes and explained what the meaning of the fault
modes are. Furthermore, the switching controller designed
demand that transition of fault modes must be detected
instantaneously and every faulty subsystem in faulty
switched system is requested to be stable.
Motivated by the aforementioned observations, this paper
studies the FTC problems for T-S fuzzy system with time
delay and actuator faults. There are three main
contributions stated as follows. Firstly, a new fuzzy FTC
model is formulated by using the fault partition idea, in
which the actuator fault has several fault modes with fault
parameters, and these models are relative to various degree
of faulty severity. Secondly, based on the obtained fuzzy
FTC model, a switched system about fault levels is
modeled. Lastly, the fault tolerant switched controller is
designed in terms of linear matrix inequalities by
combining the Lyapunov stability theory, the convex
combination technique, the free-weighting technique and
the average dwell time approach.
Notation The notation used throughout the paper is fairly
standard. N is the set of non-negative integers. For any
positive integer r, { } : 1, 2,
r
Z r = . ( )
n
k

denotes the time
instant that is immediately before
n
k . diag{ } denotes a
diagonal block matrix. The asterisk * in a matrix is used to
denote a term that is induced by symmetry.
max
( ) P and
min
( ) P denote the maximum and minimum eigenvalues of
matrix P , respectively.
2. PROBLEM FORMULATION
Consider a discrete-time T-S system with time delay and
actuator faults, which can be described by
Plant rule i :
IF
1
( ) k is
1 i
N and and ( )
m
k is
im
N

Fault-Partition-Dependent Fault-Tolerant Control for T-S Fuzzy Time-Delay
Systems
Cheng Lifei, Jia Xinchun, Chi Xiaobo
School of Mathematical Science, Shanxi University, Taiyuan 030006
E-mail: 2003223007clf@163.com, xchjia@sxu.edu.cn, xbchi@163.com

Abstract: This paper proposes a new approach to investigate the fault-tolerant control problem for T-S fuzzy systems
with actuator faults. By using the fault partition idea, a switched system model about fault levels is formulated. Suppose
the transition of fault levels cannot be detected instantaneously, an asynchronous switching fuzzy controller depending
on fault levels is put forward. Then a fault-partition-dependent stability criterion is derived by combining the Lyapunov
stability theory, the convex combination technique, the free-weighting technique and the average dwell time approach.
The fault tolerant controller is designed in terms of linear matrix inequalities, which guarantees the faulty system is
exponentially stable. A numerical example is given to illustrate the effectiveness of the proposed methods.
Key Words: Takagi-Sugeno fuzzy systems, Fault Tolerant Control, Average dwell time, linear matrix inequality (LMI)

3402 978-1-4577-2074-1/12/$26.00 c 2012 IEEE

THEN ( 1) ( ) ( ) ( ( ))
F
i i di
x k A x k Bu k A x k d k + = + + (1)
( ) ( ) x k k = ,
2 2
, 1, , 0 d d +
where r is the number of fuzzy IF-THEN rules. ( )
j
k
( )
m
j is the premise variable. ( , )
ij r m
N i j is the
fuzzy set of ( )
j
k in Plant rule i . ( )
n
x k R is the state
vector. ( )
F
u k R is the control input vector which may
have faults.
i
A ,
i
B and
di
A ( )
r
i are constant matrices
with appropriate dimensions. ( ) d k is a time-varying delay
and satisfies
1 2
( ) d d k d . Where
1
d and
2
d are constant
positive scalars representing the lower and upper delays,
respectively. ( ) k is the initial condition sequence.
The overall fuzzy system is inferred as the following form
1
( 1) ( ( )) ( ) ( ) ( ( ))
r
F
i i i di
i
x k h k A x k Bu k A x k d k
=
( + = + +

_

( ) ( ) x k k = ,
2 2
, 1, , 0 d d + (2)
Where ( ( ))
i
h k =
1 1
1
( ( )) ( ( ))
r
m m
j ij j j ij j
i
N k N k
= =
=

_
,
[ ]
1 2
( ) ( ), ( ), , ( )
T
m
k k k k = , ( ( ))
ij j
N k is the grade of
membership of ( )
j
k in
ij
N .
The general actuator fault model can be expressed as follow
( ) ( ) ( )
F
u k a k u k = (3)
Where ( ) a k is a time-varying fault parameter satisfying
[ ] ( ) , a k a a with 0 a a < .
Here, we divide the interval [ ] , a a into subintervals.
Namely [ ) { }
1
1
1
,
l l
l
a a

=
and [ ]
1
, a a

. Where
0
a a = and
a a

= . If ( ) a k [ )
1
,
l l
a a

( 1, 2, , 1 l = ), ( ) a k is
denoted by ( )
l
a k . It represents that the fault level of the
actuator is l at time k . If [ ]
1
( ) , a k a a

, ( ) a k is
denoted by ( ) a k

. It represents that the fault level of the

actuator is at time k .
m
a , 0,1, , m = are called the
fault mode parameters of the actuator. Let { } 1, 2, , M =
denote the set of fault levels.
The switching instants discussed in this paper are
0 1
, , k k ,
where
0
k is the initial time, and
n
k denotes the n-th
switching instant.
Assumption 1: The transition of fault levels occurs at time
n
k and cannot be detected instantaneously, but only after a
time period
n
. Where
n
is positive integer and satisfies
1 n n n
k k
+
<
Remark 1: The reason that transition of fault levels cannot
be detected instantaneously is provided in [18]. The
character of positive integer on
n
can be obtained by the
Buffer Technology in [19].
The function [ )
0
( ) : , k k M denotes the system
switching signal. More specifically,

[ )
[ ]
1
1
( ) ,
( )
( ) ,
l l
l if a k a a
k
if a k a a

Furthermore, the function [ )
0 0
( ) : , k k M +
denotes the switching signal of the controller. More
specifically, if ( ) k l = over the interval [ )
1
,
n n
k k k
+
,
then ( ) k l = over the interval [ )
1 1
,
n n n n
k k k
+ +
+ + .
In summary, rewrite (3) as follow:

( )
( ) ( ) ( )
F
k
u k a k u k

= (3)
Based on the assumption 1 and the parallel distributed
compensation (PDC) scheme, we consider the following
asynchronous switching fuzzy controller depending on
fault levels for the system (1)

( )
1
( ) ( ( )) ( )
r
i k i
i
u k h k K x k

=
=
_
(4)
where
( ) k i
K

is the control gain to be designed.
For simplicity, we denote the notation : ( ( ))
i i
h h k = . From
(1) to (4), we have the following closed-loop FTC system
( 1) x k +
( ) ( )
( ) ( ) ( ) ( ( ))
k k d
A h x k A h x k d k

= +
( ) ( )
1 1
( ) ( ) ( ( ))
r r
i j i k i k j di
i j
h h A a B K x k A x k d k

= =
( = + +

__
(5)
Remark 2: A more general model of actuator fault than the
outage is adopted in this paper. Further, a new actuator fault
model (3) is formed by using the fault partition idea. It not
only contains the scaling factor of actuator faults [11], but
also involves the faulty partition corresponding to different
degree of faulty severity; it is applicable to not only
time-varying actuator fault but also actuator dead zones
and actuator saturation. It should be noted that actuator
dead zones and actuator saturation are special cases of the
actuator fault model (3). Therefore, the formulated model
(3) has a more obvious physical meaning than the model
constructed in [13].
Remark 3: Suppose the transition of fault levels can not be
detected instantaneously, an asynchronous switching fuzzy
controller (4) depending on fault levels is put forward.
When 0
n
= , the controller degrades into controller
designed in [13]. When the controller do not depend on
fault levels, that is,
1 2 i i i
K K K

= = = ( 1, 2, , i r = ), it
degrades into the controller designed in [14].
Definition 1: [15] [20] For switching signal and any
0
k k > , let
0
( , ) N k k

be the switching numbers of over

the interval [ )
0
, k k . If for any given
0
0 N > and 0
a
> ,
we have
0 0 0
( , ) ( )
a
N k k N k k

+ , then
a
and
0
N are
called average dwell time and the chatter bound.
Definition 2: [17] For any , q p M and
0
k k > , the sub-
system activated in the system (5) is called the qp-th
subsystem, if ( ) k q = and ( ) k p = . Let
0
[ , ]
qp
T k k
2012 24th Chinese Control and Decision Conference (CCDC) 3403

denote the total activation time of the qp-th subsystem
over the interval [ ]
0
, k k . The activation time is called
mismatched period, if p q .
Definition 3: The system (5) is said to be exponentially
stable if there exist constants 0 c > and 0 1 < < such that
the solution ( ) x k of system (5) satisfies
0
0 0
( ) ( ) ,
k k
x k c x k k k

.
Based on the description above, the purpose of this paper is
to design an asynchronous switching fuzzy controller
depending on fault levels such that the closed-loop FTC
system with actuator fault is exponentially stable.
3. MAIN RRSULTS
3.1 Exponential growth or decay estimation of
Lyapunov function for switched subsystem
Consider two subsystems of closed-loop FTC system (5)
over the interval [ )
1
,
n n
k k
+
. Suppose ( ) k q = , ( ) k p =
over the interval [ ) ,
n n n
k k + , then ( ) ( ) k k q = = over
the interval [ )
1
,
n n n
k k
+
+ , where , q p M and q p . The
qp-th subsystem is specified as follow
( 1) ( ) ( ) ( ) ( ( ))
qp d
x k A h x k A h x k d k + = + (6)
The qq-th subsystem is specified as follow
( 1) ( ) ( ) ( ) ( ( ))
qq d
x k A h x k A h x k d k + = + (7)
Rewrite (6) and (7) as follow
( 1) ( ) ( ) ( ) ( ( ))
qs d
x k A h x k A h x k d k + = + (8)
where
[ )
[ )
1
,
,
n n n
n n n
p k k k
s
q k k k

+
+

=

+

. (9)
For the system (8), choose the Lyapunov function as
( )
qs
V k = ( ) ( )
T
qs
x k P x k
2 1
1
1
( ) ( )
k
T k l
qs qs
l k d
x l Q x l

= =
+
_ _

1
1
3
( )
( ) ( )
k
T k l
qs qs
l k d k
x l Q x l

=
+
_

1
2
1
1
3
1
( ) ( )
d k
T k l
qs qs
d l k
x l Q x l

= + = +
+
_ _

1
1 1
1
1
( ) ( )
k
T k l
qs qs
d l k
y l Z y l

= = +
+
_ _

1
2
1 1
1
2
( ) ( )
d k
T k l
qs qs
d l k
y l Z y l

= = +
+
_ _
(10)
where ( ) ( 1) ( ) y l x l x l = + .
Along any state trajectory of system (8), an exponential
decay or growth estimation of ( )
qs
V k in (10) is presented in
the following lemma. Due to space limitations, the proof
omitted here.
Lemma 1: Consider system (8). For given scalars 0
qs
>
and
1 2
0 d d , if there exist matrices 0
qs
P > ,
0( 1, 2, 3)
qs
Q

> = , 0( 1, 2)
qs
Z

> = ,
1 2
0 0 0 0 0
T
T T
qs qs qs
U U U ( =

,
1 2
0 0 0 0 0
T
T T
qs qs qs
Y Y Y ( =

,
1 2
0 0 0 0 0
T
T T
qs qs qs
W W W ( =


such that the following inequalities
0
* *
q q
a a
qsij qs qsji qs
qs qs
( (

+ <
( (

( (

1 i j r (11)
1 1
0
* *
q q
a a
qsij qs qsji qs
qs qs

( (

+ <
( (

( (

1 i j r (12)
hold, then the following inequalities
( ( ))
( ) ( ) ( )
n n
k k
qq qq qq n n
V k V k

+
< + , [ )
1
,
n n n
k k k
+
+ (13)
( )
( ) ( ) ( )
n
k k
qp qp qp n
V k V k

< , [ ) ,
n n n
k k k + (14)
hold. Moreover, an admissible controller (4) is given by
1
qj qj qq
K K P

= , 1, 2, , q = , 1, 2, , j r = .
where
1 2 2 qs qs qs qs
c U c Y c W ( =

,
12 2 1
d d d = ,
qs
=
{ }
1 1 2 2 2 2
( 2 ), ( 2 ), ( 2 )
qs ss qs ss qs ss
diag c Z P c Z P c Z P
1
1
1
1
d
qs
qs
c

,
1 12
2
1
1
d d
qs qs
qs
c

(

=

,
11 12
22
q
q
a qs qs
qsij
qs
(
= +
(

(

,
1 q
a
qsij

=
11 12 1
22
q
qs qs
qs

(
+
(

(

,
{ }
1 2
11
11 22 1 2
, , ,
d d
qs qs qs qs qs qs qs
diag Q Q = ,
11 1 2 12 3
( 2 ) ( 1)
qs qs qs ss qs qs qs
P P Q Q d Q = + + + + ,
2
1
3
22
3
0 1
1
d
qs qs qs
qs d
qs qs qs
Q
Q


<

,
{ }
22
1 1 12 2
, ,
qs qs qs qs
diag P d Z d Z = ,
1 12
12
1 12
( )
0 0 0
T
i ss q i sj q q
q T T T
qs ss di ss di ss di
AP a B K d d
P A d P A d P A
( +
(
=
(
(

,
( )
T
q i ss q i sj ss
AP a B K P = + ,
1 1 1 12 1
12 1
1 12
( )
0 0 0
T
i ss q i sj q q
q T T T
qs ss di ss di ss di
A P a B K d d
P A d P A d P A

( +
(
=
(
(

,
1 1
( )
T
q i ss q i sj ss
AP a B K P

= + ,
0 0 0
qs qs qs qs qs qs
U Y W U Y W ( = + +


0 0 0
T
qs qs qs qs qs qs
U Y W U Y W ( + + +

.
Remark 4: Inequality (13) implies the functional ( )
qq
V k
along any state trajectory of system (7) has an exponential
decay rate
qq
( 0 1
qq
< < ) or growth rate
qq
( 1
qq
> ). In
3404 2012 24th Chinese Control and Decision Conference (CCDC)

other word, the situation that some subsystems may be
unstable is also studied in this paper.
Remark 5: Inequality (14) implies the functional ( )
qp
V k
along any state trajectory of system (6) may have an
exponential decay rate over mismatched period. It is
rational that such situation is considered in lemma 1 and the
flexibility of assigning
qp
is increased.
3.2 Stability analysis of asynchronous switched
system
Theorem 1: Consider the system (5). For ( , ) q p M M
and given scalars
qs
,
1 2
0 d d and
1
1 ,
2
1 , if
there exist matrices 0
qs
P > , 0( 1, 2, 3)
qs
Q

> = ,
0( 1, 2)
qs
Z

> = ,
1 2
0 0 0 0 0
T
T T
qs qs qs
U U U ( =

,
1 2
0 0 0 0 0
T
T T
qs qs qs
Y Y Y ( =

,
1 2
0 0 0 0 0
T
T T
qs qs qs
W W W ( =

,
such that inequalities (11) and (12) hold, then system (5) is
exponentially stable under the switching signal ( ) k with
the following conditions:

* 1 2
ln
2ln ln ln
a a as s




=

(15)

0
1 0
[ , ]
ln ln
s ll
ll
l
T k k
k k

_
(16)
0
1 1, 0
[ , ]
ln ln
as l
l
l l
T k k
k k

= =

_ _
(17)
where 0 > , 0
as

> , 0
s

> ,
2
1
as s


< < and
1
,
2
satisfy the following inequalities
1
P P

,
2
P P

,
1 v v
Q Q

,
2 v v
Q Q

,
1
Z Z

,
2
Z Z

, , , M (18)
Moreover, an admissible controller (4) is given by
1
qj qj qq
K K P

= , 1, 2, , q = , 1, 2, , j r = .
Proof Choose the switched Lyapunov function as
[ )
[ )
1
( ) ( ) 1
( ) ( )
( ) ,
( )
( ) ,
n n
n n
k k n n n
k k n n n
V k k k k
V k
V k k k k

+
+

=

+

Considering functional (10) and inequalities (18), it is easy
to verify that
1
( ) ( ) V k V k

,
2
( ) ( ) V k V k


for any , , M .Two cases should be considered.
Case 1 From (14), we have
( )
1 1 1
( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
n
n n n n n n
k k
k k k k k k n
V k V k

( )
( ) ( )
1
1 1
[ , ]
( ) ( ) ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k n
V k

= (19)
for [ ) ,
n n n
k k k + . According to the Definition 2, it is
clear that
( ) ( )
[ , ] 0
n n
k k n
T k k

= for [ ) ,
n n n
k k k + .
Therefore, it follows from
1
1 and inequality (19) that
( )
( ) ( )
1
1 1
[ , ]
( ) ( ) 1 ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k
V k






( )
( ) ( )
1
[ , ]
( ) ( ) ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k n
V k

.
Case 2 From (13), we have
( )
( ( ))
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
n n
n n n n n n
k k
k k k k k k n n
V k V k

+
+
( )
( ) ( )
[ , ]
( ) ( ) ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k n n
V k


= +
( )
( ) ( )
1
[ , ]
1 ( ) ( ) ( ) ( )
[( ) ]
k k n
n n
n n n n
T k k
k k k k n n
V k

+
( )
( ) ( )
1
1
[ , ]
1 ( ) ( )
k k n
n n
n n
T k k
k k

( )
( ) ( )
1
[ , ]
( ) ( ) ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k n
V k

for [ )
1
,
n n n
k k k
+
+ .
In summary, for [ )
1
,
n n
k k k
+
, we have
( )
( ) ( )
1
1
[ , ]
1 ( ) ( )
( )
k k n
n n
n n
T k k
k k
V k

( )
( ) ( )
1
[ , ]
( ) ( ) ( ) ( )
( )
k k n
n n
n n n n
T k k
k k k k n
V k

( )
( )
( ) ( )
1
1
( ) ( )
1 1
[ , ]
1 2 ( ) ( )
[ , ]
( ) ( ) ( ) ( )
[( ) ]
k k n
n n
n n
k k n
n n
n n n n
T k k
k k
T k k
k k k k n
V k

( )
( ) ( ) 1
1 2
1 2
[ , ]
2 2
1 2 ( ) ( )
k k n
n n
n n
T k k
k k

( ) ( )
( ) ( ) 1 ( ) ( )
1 1 1
1 1 1
[ , ] [ , ]
( ) ( ) ( ) ( )
k k n k k n
n n n n
n n n n
T k k T k k
k k k k

( )
( ) ( )
2
[ , ]
( ) ( ) ( ) 1
[( ) ]
k k n
n n
n n n
T k k
k k k n
V k

( )
0
0
0
[ , ]
( , )
1 2 ( ) 0
1 1
( ) ( )
l
T k k
N k k
l k
l
V k

= =

( )
0
0
0
[ , ]
1 2 ( ) 0
1 1
( ) ( )
l
a
k k
T k k
l k
l
V k

= =

(20)
Combining (15), (16) and (17) yields
0
2( )
0
( ) ( )
k k
V k V k

. (21)
From the Lyapunov functional (10) and inequality (21), it
follows that

2
( ) ( ) a x k V k ,
2
0 0
( ) ( ) V k b x k
which leads to
0
0
( ) ( )
k k
x k c x k

.
Where
b
c
a
= ,
{ }
min min
, ,
min ( ), ( )
M
a P P

= ,
{ }
, ,
max , ,1
M

= ,
{ }
max max
, ,
max ( ), ( )
M
b P P

=
{ }
2
2
2 max max
, ,
1, 2,3
4 max ( ), ( )
d
v v
M
v
d Q Q

=
+
{ }
2
2
2 max max
, ,
1, 2
3 max ( ), ( )
d
M
d Z Z

=
+ .
The proof is completed.

2012 24th Chinese Control and Decision Conference (CCDC) 3405

3.3 Stability analysis of synchronous switched system
When 0
n
= , that is transition of fault levels can be
detected instantaneously, we have the following corollary.
Corollary 1: Consider the system (5) with 0
k
= . For
q M and given scalars
qq
,
1 2
0 d d and 1 > , if
there exist matrices 0
qq
P > , 0( 1, 2, 3)
qq
Q

> = ,
0( 1, 2)
qq
Z

> = ,
1 2
0 0 0 0 0
T
T T
qq qq qq
U U U ( =

,
1 2
0 0 0 0 0
T
T T
qq qq qq
Y Y Y ( =

,
1 2
0 0 0 0 0
T
T T
qq qq qq
W W W ( =


such that inequalities (11) and (12) with s q = hold, then
system (5) is exponentially stable under the switching
signal ( ) k with the following conditions:
ln
2ln ln
a

(21)
0
1
0
[ , ]
ln ln
ll
qq
l
T k k
k k

_
(22)
where 0 > , 0

> ,
2
0 1

< < < and satisfies the

following inequalities
P P

,
v v
Q Q

, Z Z


1, 2, 3 v = and 1, 2 =
Moreover, an admissible controller (4) is given by
1
qj qj qq
K K P

= , 1, 2, , q = , 1, 2, , j r = .
Remark 6: It should be noted that
0
1
0
[ , ]
1
ll
l
T k k
k k

=
=

_
, based
on which, inequality (22) can be rewrote as follow:
( )
0
1
[ , ] ln ln 0
ll ll
l
T k k

=

_
.
Particularly, when 2 = , we assume the first subsystem is
unstable and the second subsystem is stable. Let
1
1 > and
2
1 < . Then inequality (22) becomes the following
11 0 2
0 1 2
[ , ] ln ln
ln ln
T k k
k k

.
4. SIMULATION EXAMPLE
To illustrate the effectiveness of proposed approach, the
control problem of trailer-truck [16] is considered:
1 1
( 1) (1 ) ( ) ( )
F
vt vt
x k x k u k
L l
+ = +
2 2 1
( 1) ( ) ( )
vt
x k x k x k
L
+ = +
3 3 2 1
( 1) ( ) sin[ ( ) ( )]
2
vt
x k x k vt x k x k
L
+ = + + (23)
where 2.8 l = , 5.5 L = , 2.0 v = and 0.25 t =
This system can be presented as following T-S model:
Rule 1: IF
2 1
( ) ( ) ( )
2
vt
k x k x k
L
= + is 0
THEN
1 1
( 1) ( ) ( )
F
x k A x k Bu k + = +
Rule 2: IF
2 1
( ) ( ) ( )
2
vt
k x k x k
L
= + is
THEN
2 2
( 1) ( ) ( )
F
x k A x k B u k + = +
Where 0.106 d =
1
2 2
1 0 0
1 0
1
2
vt
L
vt
A
L
v t
vt
L
(

(
(
(
=
(
(
(
(

,
1
0
0
vt
l
B
(
(
(
=
(
(
(


2
2 2
1 0 0
1 0
1
2
vt
L
vt
A
L
dv t
dvt
L
(

(
(
(
=
(
(
(
(

,
2
0
0
vt
l
B
(
(
(
=
(
(
(


The membership function is taken as follow:
1
sin ( )
( ( ))
( )
k
h k
k

= ,
2 1
( ( )) 1 ( ( )) h k h k =
We assume that the time-varying fault parameter of the
actuator faults is [ ] ( ) 0,1 a k . That is 0 , 1 a a = = . Then it
will be divided into two modes, i.e. weak and strong. Thus
2, = { } 1, 2 M = and
0
0 a = ,
1
0.5 a = and
2
1 a = . More
specifically, there are two fault cases as follow
If [ )
0 1
( ) , a k a a , let ( ) 1 k = . It represents that the fault
level of the actuator of the system (23) is high at time k .
If [ ]
1 2
( ) , a k a a , let ( ) 2 k = . It represents that the fault
level of the actuator of the system (23) is low at time k .
( ) a k is the time-varying fault parameter, which is
illustrated in Fig. 1.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Time (sec)
F
a
u
lt

P
a
r
a
m
e
t
e
r

a
(
k
)

Fig. 1. Time-varying fault parameter ( ) a k

Choose
12
1.9 = ,
21
1.01 = ,
1
1.6 = ,
2
0.95 = ,
1
1.5 =
and
2
1.3 = . By Theorem 1, we can obtain admissible
controller gains
[ ]
11
8.7603 15.4439 3.6081 K =
3406 2012 24th Chinese Control and Decision Conference (CCDC)

[ ]
12
8.1942 14.4859 3.3870 K =
[ ]
21
9.7494 13.8521 3.2371 K =
[ ]
22
8.5641 12.3527 2.8851 K =
Let the initial states [ ] (0) 0.5 0.3 0.2 x = and choose
* *
0.96, 1.015
s as
= = and
2
0.99 = . According to the
inequality (16), we have
*
42.0467
a
= . For simplicity, let
1
n
= and design such a periodic switching rule: Let the
actuator with low level fault work for the duration of 84
steps, then high level fault for 2 steps, then back to low
level fault for 84 steps. Such rule satisfies inequalities (15),
(16) and (17). Under the rule, the state trajectories of
system (23) with 200 steps runs are shown in Fig. 2.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
Time (sec)
S
t
a
t
e

x
(
k
)
x1
x2
x3

Fig. 2. State response with actuator faults

5. CONCLUSION
This paper has studied the fault-tolerant control problem
for T-S fuzzy systems with actuator faults by switching
system approach. By using the fault partition idea, a
switched system model about fault levels has been
formulated. An asynchronous switching fuzzy controller
depending on fault levels has been considered and a
fault-partition-dependent stability criterion has been
derived. The switching fuzzy controller has been designed
in terms of linear matrix inequalities, which guarantees the
faulty system is exponentially stable. The conclusion is
also extended to the design of the synchronous switching
control systems with actuator failure. A numerical example
is given to illustrate the effectiveness of the proposed
methods.
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2012 24th Chinese Control and Decision Conference (CCDC) 3407