ISA Transactions xxx (xxxx) xxx

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ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans

Research article

Fault estimation and active fault-tolerant control for discrete-time

systems in finite-frequency domain
∗
Xiaodan Zhu a,b , Yuanqing Xia a , , Mengyin Fu a
a
School of Automation, Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China
b
School of Mathematics and Statistics Science, Ludong University, Yantai, 264025, China

highlights

• This systems considered are expand them into descriptor systems.

• Observers are constructed to analyze stability of error systems with H∞ performance and obtain fault’s estimations.
• FTC schemes are presented by GKYP lemma so that this systems have fault tolerance.

article info a b s t r a c t

Article history: The active fault-tolerant control (FTC) problem for discrete-time systems in finite-frequency domain is
Received 17 October 2018 addressed based on faults’ estimation. By the descriptor system approach, the observers are designed
Received in revised form 27 January 2019 such that the stability and H∞ performance index of dynamic error systems are analyzed in finite
Accepted 14 February 2019
frequency domain. The estimation of faults is obtained by the designed observers. By using the
Available online xxxx
estimation of faults, a H∞ FTC method is presented to show the stability analyses of closed-loop
Keywords: systems in term of GYP lemma. Numerical simulations are given to demonstrate proposed FTC
Estimation methods’ effectiveness.
Observer © 2019 Published by Elsevier Ltd on behalf of ISA.
FTC
Finite-frequency rang

1. Introduction Meanwhile, many scholars pay attention to active FTC prob-

Many demands are increased in safety, reliability, maintain-
ability, and survivability, many researchers focus on the fault-
tolerant control (FTC), and make significant research achieve-
ments. The achievable system performance depends on
redundancies’ availability and design approaches which analyze
and synthesize the controllers in FTC systems. Currently, based
on how redundancies are being utilized, the FTC system mainly
includes passive and active one to reach the same objective
that system normally works. By considering the distinctive de-
sign approaches, some unique properties are obtained. There
are the results on passive FTC [1–7]. [1] and [2] simultaneously
considered the passive and active FTC problem. Considering over-
actuated nonlinear model [3], a passive FTC method was proposed
and applied to electric vehicle. In finite frequency domain, a ro-
bust H∞ passive FTC strategy was provided in [4]. The controllers
were designed to solve the passive fault-tolerant problem for
hypersonic vehicle dynamical systems [5], non-linear stochastic
systems [6] and nonlinear affine systems [7], respectively.
∗ Corresponding author.
E-mail addresses: xdzhu@ldu.edu.cn (X. Zhu), xia_yuanqing@bit.edu.cn
(Y. Xia), fumy@bit.edu.cn (M. Fu).
lem. Most active FTC methods require fault detection and diagno-
sis units. Very few methods do not need this unit, but the prior
knowledge of various faults must be known. A filter or observer
is one of the important methods to obtain estimations. Based
Kalman filter, [8] proposed the attitude’s estimation problem
in small satellite. The observer [9] was designed to precisely
estimate kinematics and dynamics to achieve the tracking control.
Online diagnostics [10] method was applied to deal with discrete
systems’ active FTC problem. Considering non-linear stochastic
models [11], the H∞ active FTC was given by a fuzzy-interpolation
approach. When sensor faults happened, [12] provided a active
FTC approach of flexible spacecraft. If there were partial actu-
ator failures in networked models, [13] addressed the control
problem. In term of delta operator approach, [14] investigated
the FTC technique of T–S fuzzy model. [15] gave a adaptive
controller design such that nonlinear MIMO systems normally
ran when faults occurred. [16] studied affine systems including
state constraints and constructed the new optimal sliding mode
FTC. [17] and [18] analyzed the fault estimation and dealt with
FTC problem for fuzzy stochastic models. For Markovian jump
model including mismatched external disturbance, the adaptive
fault-tolerant compensation method was promoted in [19]

https://doi.org/10.1016/j.isatra.2019.02.014
0019-0578/© 2019 Published by Elsevier Ltd on behalf of ISA.

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
2 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx

In finite-frequency domain, the method, i.e., the Kalman– Table 1

Yakubovich–Popov (KYP) lemma, was shown by the generalized Ω for three frequency ranges.
fundamental machinery. The significant development [20] was Low frequency Middle frequency High frequency

shown and named generalized KYP (GKYP) lemma. For continu- Ω |ϑ|≤ ϑ1 ϑ2 ≤ ϑ ≤ ϑ3 |ϑ|≥ ϑ4
ous fuzzy models, [21] addressed H∞ control. [22] analyzed linear
descriptor systems and designed the fault detection observer. [23]
and [24] gave fuzzy systems’ filters to detect faults. Considering Before finishing the section, we show three lemmas, which
discrete T–S fuzzy systems, a fault diagnosis scheme by UIO are Projection Lemma, Finsler’s Lemma and GKYP Lemma, respec-
was presented in [25]. [26] studied discrete switched systems tively, to prove Section 3.
which had actuator fault and proposed a fault estimator. [27]
studied discrete fuzzy systems and designed a robust H∞ fault Lemma 2.1 ([29]). Considering matrix ψ = ψ T , Γ , Λ, ψ + Γ ∆ΛT +
estimation observer. For vehicle active suspension models, a Λ∆T Γ < 0 holds if and only if Γ ⊥ ψ Γ ⊥T < 0, Λ⊥ ψ Λ⊥T < 0, and
active FTC scheme was constructed in [28]. However, the problem ∆ is decision matrix.
considered in this paper has been not solved.
This paper’s contributions are shown: (i) We consider discrete Lemma 2.2 ([30]). η ∈ Rn , P = P T ∈ Rn×n , H ∈ Rm×n , then
systems and expand them into descriptor systems. (ii) Three ob- rank(H) = r < n, (1) is equivalent to (2).
servers are constructed to analyze dynamic error systems’ stable (1) ∀η ̸ = 0, ηT P η < 0, H η = 0;
and H∞ performance for low-, middle-, high-frequency rang. (iii) (2) P + XH + H T X T < 0, where X ∈ Rn×m .
The estimation of faults is obtained in terms of the designed ob-
server. (iv) By using the estimation of faults, H∞ output feedback Lemma 2.3 ([20]). For system (5)
control schemes are presented, and stability analyses of closed-
loop systems is derived in term of GKYP lemma. (v) Numerical x̆(k + 1) = Ax̆(k) + Bd̆(k)
(5)
simulations prove this FTC method’s effectiveness. y̆(k) = C x̆(k) + Dd̆(k)
considering γ > 0, system (5) has a H∞ index γ for finite frequency
2. Problem formulation rang, where

Discrete models are that: ∥y̆(k)∥2

H∞ ≜ < γ,∀ ϑ ∈ Ω
x(k + 1) = A1 x(k) + B1 u(k) + D1 d(k) ∥d̆(k)∥2
(1)
y(k) = A2 x(k) + F2 fs (k) and Ω is described in Table 1.
g
where x(k) ∈ R means state, y(k) ∈ R represents control gy For matrices P = P T , Q = Q T > 0,
output. d(k) ∈ Rgd , u(k) ∈ Rgu fs (k) ∈ Rgf are disturbance, control Φ1T ΘΦ1 + Φ2T ΠΦ2 < 0 (6)
input, sensor fault, respectively. Matrices A1 , B1 , D1 , A2 , F2 are
known. The hypothesis is shown that (A1 , A2 ) is observable and where
rank F2 is [full.
[ ] [ ] [ ]
A B C D I 0
]T
Define x(k) fs (k) = x̃(k), the form of system (1) becomes Φ1 = , Φ2 = ,Π = ,
I 0 0 I 0 −γ 2 I
Ē x̃(k + 1) = Ā1 x̃(k) + B̄1 u(k) + D̄1 d(k) |ϑ| ≤ ϑ1 being low-frequency range,
(2)
ỹ(k) = Ā2 x̃(k) [ ]
−P Q
Θ=
where Q P − 2 cos ϑ1 Q
[ ] [ ] [ ]
Ē =
I 0 A
, Ā1 = 1
0 B
, B̄1 = 1 , ϑ2 ≤ ϑ ≤ ϑ3 being middle-frequency range,
0 0 0 0 0
ejϑm Q
[ ]
−P
Θ = −jϑm
[ ]
D1 Q P − 2 cos ϑw Q
, Ā2 = A2 . e
[ ]
D̄1 = F2
0
with ϑm = (ϑ2 + ϑ3 )/2, ϑw = (ϑ3 − ϑ2 )/2, and |ϑ| ≥ ϑ4 being
For system (2), construct the following observer to get x̃(k)’s high-frequency range,
estimated information [ ]
−P −Q
ˆ + B̄1 u(k) + L1 ỹ(k)
s̃(k + 1) = (Ā1 − L1 Ā2 )x̃(k) Θ=
−Q P + 2 cos ϑ4 Q
ˆ = (Ē + L2 Ā2 )−1 (s̃(k) + L2 ỹ(k))
x̃(k) (3)
ˆ = Ā2 x̃(k)
ỹ(k) ˆ
3. Main results
and a controller

u(k) = K ỹ(k) (4) To obtain the error systems and residual, the form in observer
(3) becomes
ˆ ˆ
[ ]
where x̃(k) is x̃(k)’s estimation, x̃(k) = x̃(k) I 0
is x(k)’s
ˆ + 1) = (Ā1 − L1 Ā2 )x̃(k)
(Ē + L2 Ā2 )x̃(k ˆ + B̄1 u(k) + L1 ỹ(k) + L2 ỹ(k + 1) (7)
estimation, fs (k) = 0 I x̃(k) is fs (k)’s estimation, ỹˆ is ỹ(k)’s
ˆ ˆ
[ ]

estimation, that is, ỹˆ is y(k)’s estimation, and L1 , L2 , and K will adding L2 ỹ(k + 1) on both sides of system (2), one can have
be constructed. This controller is a output-feedback one. (Ē + L2 Ā2 )x̃(k + 1) = (Ā1 − L1 Ā2 )x̃(k) + B̄1 u(k) + D̄1 d(k)

Remark 2.1. This observers are designed to obtain estimated + L1 ỹ(k) + L2 ỹ(k + 1) (8)
information of sensor faults and states, which provides the foun-
Define
dation for the FTC method, to realize the goal that the systems
normally run when sensor faults occur. ˜ = x̃(k) − x̃(k)
x̃(k) ˆ , r(k) = ỹ(k) − ỹ(k)
ˆ (9)

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx 3

˜ notates error state, r(k) means residual, then

where x̃(k) then (19)’s form has
˜ + 1) = (Ē + L2 Ā2 )−1 [(Ā1 − L1 Ā2 )x̃(k)
˜ + D̄1 d(k)] ] ([ I 0
]
x̃(k
[ [ ]
(10) (S(Ā1 − L1 Ā2 ))T I 0 I 0 0
˜ 0 I Θo
r(k) = Ā2 x̃(k) (S D̄1 )T 0 I 0 I 0
0 0
⎡ ⎤ ⎞
Theorem 3.1. For γo > 0, observer (3) is designed such that 0 0 [ ] [ T
]T
stability analysis of system (10) with H∞ level γo is shown for |ϑ| ≤ + ⎣ĀT2 0 ⎦ Πo
0 Ā2 0 ⎠ (S(Ā1 − L1TĀ2 )) I 0
0 0 I (S D̄1 ) 0 I
ϑ1 if there are P = P T , Q = Q T > 0, X so that (11) and (12) hold. 0 I

g1 X + g2 ξ1 <0 (20)
[ ]
P − g2 X − g2 X T
<0 (11)
∗ − P − g1 ξ1 − g1 ξ1T Set
−P Q +X 0 0
⎡ ⎤ [ ]
(S(Ā1 − L1 Ā2 ))T I 0
⎢ ∗ ϕ1 −X T S D̄1 ĀT2 ⎥ Υ⊥ = (21)
⎦<0 (12) (S D̄1 )T 0 I
−γo2 I 0
⎣ ∗ ∗
∗ ∗ ∗ −I then
⎡ ⎤
−I
where
Υ = ⎣(S(Ā1 − L1 Ā2 ))T ⎦ (22)
ξ1 = X T S Ā1 − Y Ā2 , (S D̄1 )T
S = (Ē + L2 Ā2 )−1 , By considering Lemma 2.2, then
ϕ1 = P − 2 cos ϑ1 Q − ξ1T − ξ1 , ⎡ ⎤
I 0 0 0
[ ] [ ] [ ]
]T I 0 0 0 Ā2 0
, Θo 0 ⎦ Πo
[
L2 = 0 I 0 I + ⎣ĀT2
0 I 0 0 0 I
0 0 0 I
and scalars g1 , g2 which meet the condition that g12 − g22 < 0.
Moreover, the observer gain is shown that L1 = S −1 X −T Y . < Υ XRT + (Υ XRT )T (23)
[ ]
Set RT = 0 I 0 , then (24) holds.
Proof. Define the Lyapunov functional to prove this theorem:
⎡ ⎤ ⎡ ⎤ ⎡ ⎤T
˜ T P x̃(k)
V (k) = x̃(k) ˜ (13) −P Q 0 0 0
⎣ ∗ P − 2 cos ϑ1 Q 0 ⎦ + ⎣ĀT2 ⎦ ⎣ĀT2 ⎦
Along system (10), V (k)’s difference is ∗ ∗ −γo2 I 0 0
⎡ ⎤
˜ T [(S(Ā1 − L1 Ā2 ))T P(S(Ā1 − L1 Ā2 )) − P ]x̃(k)
∆V (k) = x̃(k) ˜ (14) 0 −X 0
− ⎣∗ Υ22 X T S D̄1 ⎦ < 0 (24)
Notice that ∗ ∗ 0
(S(Ā1 − L1 Ā2 ))T P(S(Ā1 − L1 Ā2 )) − P < 0 (15)
where Υ22 = (S(Ā1 − L1 Ā2 ))T X + X T (S(Ā1 − L1 Ā2 )). By means of
in order that ∆V (k) < 0. Hence, it is that some matrix manipulations, it is obtained that (24)=(12). Con-
[ ]T [ ][ ] sider Lemma 2.3, then system (10) has a H∞ level γo in |ϑ| ≤ ϑ1
S(Ā1 − L1 Ā2 ) P 0 S(Ā1 − L1 Ā2 ) if (12) holds. The proof is finished.
<0 (16)
I 0 −P I It is similar to Theorem 3.1, two corollaries are given the
conditions for ϑ2 ≤ ϑ ≤ ϑ3 and |ϑ| ≥ ϑ4 , respectively.
There exist g1 and g2 such that g12 − g22 < 0, then
[ ]T [ ][ ] Corollary 3.1. For γo > 0, observer (3) is constructed such that
g1 I P 0 g1 I
= g12 P − g22 P < 0 (17) stability analysis of system (10) having a H∞ level γo is given for
g2 I 0 −P g2 I
ϑ2 ≤ ϑ ≤ ϑ3 if there are P = P T , Q = Q T > 0, X so that (11) and
[ ]T ⊥ [ ] (25) hold.
Since that g2 I −g I = g1 I g2 I and
[ ] 1 [ ]T ⎡
−P ejϑm Q + X 0 0
⎤
(S(Ā1 − L1 Ā2 ))T I is the null subspace of −I S(Ā1 − L1 Ā2 ) ,
⎢ ∗ ϕ2 −X T S D̄1 ĀT2 ⎥
one can have ⎦<0 (25)
∗ ∗ −γo2 I 0
⎣
[ ] [ ] [ ]T
P 0 −I g2 I ∗ ∗ ∗ −I
+ X
0 −P (S(Ā1 − L1 Ā2 ))T −g1 I
[ ] where ϕ2 = P − 2 cos ϑw Q −ξ1T −ξ1 , and scalars g1 , g2 meeting g12 −
g2 I g22 < 0. Moreover, the observer gain is that L1 = (Ē + L2 Ā2 )X −T Y .
X T −I S(Ā1 − L1 Ā2 ) < 0
[ ]
+ (18)
−g1 I

Set Y = X T (Ē + L2 Ā2 )−1 L1 , it can obtain (11) holds by using some Corollary 3.2. For γo > 0, observer (3) is constructed such that
stability analysis of system (10) having a H∞ level γo is obtained for
matrix manipulations.
According to Lemma 2.3, it can have
|ϑ| ≥ ϑ4 if there are P = P T , Q = Q T > 0, X so that (11) and (26)
hold.
Φ1o
T
Θo Φ1o + Φ2o
T
Πo Φ2o < 0 (19) ⎡
ϕ31 ϕ32 X T S D̄1 0
⎤
⎢∗ ϕ3 −X T S D̄1 ĀT2 ⎥
where ⎦<0 (26)
∗ ∗ −γo2 I 0
[ ] [ ] ⎣
S(Ā1 − L1 Ā2 ) S D̄1 Ā 0
Φ1o = , Φ2o = 2 , ∗ ∗ ∗ −I
I 0 0 I
[ ] [ ] where
−P Q I 0
Θo = , Πo = , ϕ31 = −P − X − X T ,
Q P − 2 cos ϑ1 Q 0 −γo2 I

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
4 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx

ϕ32 = −Q + X + ξ1 , Definition 3.1. For γc > 0, controller (29) is presented such that
ϕ3 = P + 2 cos ϑ4 Q − ξ1T − ξ1 , the stability analysis and H∞ index γc of system (31) are obtained
in finite frequency domain if the conditions hold:
and scalars g1 , g2 meeting g12 − g22 < 0. Moreover, the observer gain
• The stable of system (31) with d(k) = 0 is analyzed in finite
is shown that L1 = (Ē + L2 Ā2 )X −T Y .
frequency domain.
• If zero initial condition is applied, system (31) satisfies
Remark 3.1. Our goal is detecting faults, firstly, define
∥yc (k)∥2
k=k0 +n H∞ ≜ < γc (32)
∑ ∥d(k)∥2
Jr = r T (k)r(k),
k=k0
where ∀ ϑ ∈ Ω and Ω is shown in Table 1.
Jth = sup J(r),
u(k),d(k),f (k)=0
Theorem 3.2. For γc > 0, system (31) has asymptotic stability and
(32) is met for |ϑ| ≤ ϑ1 if there exist Pc = PcT = diag {Pc1 , Pc2 },
with Jth represents threshold, Jr means residual evaluation func- Qc = QcT = diag {Qc1 , Qc2 } > 0, Xc = diag {Xc1 , Xc2 }, W such that
tion, [k0 , k0 + n] is finite-time window, k0 is evaluation time and (33) and (34) hold.
τ is the length.
Γ11 0 Γ13 gc2 W F̄2
⎡ ⎤
Then following logic rule is given to detect sensor faults:
⎢ ∗ Γ22 0 T
gc1 Xc2 + gc2 Xc2 ξ2 ⎥
⎦<0 (33)
Jr ≤ Jth ⇒ No Faults, ∗ ∗ Γ33 −gc1 W F̄2
⎣
Jr > Jth ⇒ Faults ⇒ Alarm, ∗ ∗ ∗ Γ44
0 0 0
⎡ ⎤
which means that the level of function Jr is greater than one of −Pc1 0 Qc1 + Xc1
Qc2 + Xc2 0 0 ⎥
threshold Jth , then the alarm arises, namely, faults arise. ⎢ ∗ −Pc2 0 T
−W F̄2 −Xc1 D1 AT2 ⎥
⎥
⎢ ∗ ∗ Λ33
⎢
⎥ < 0 (34)
In the following, we design fault-tolerant controllers in three Λ44 T
F̄2T ⎥
⎢ ∗ ∗ ∗
⎢ −Xc2 D̄1 ⎥
different finite frequency domains. The control systems may not ⎣ ∗ ∗ ∗ ∗ −γc2 I 0
⎦
normally work if sensor faults happen, which makes us propose ∗ ∗ ∗ ∗ ∗ −I
the FTC method.
According to the preceding observer technique, fault fs (k)’s where
estimation is that Γ11 = Pc1 − gc2 Xc1 − gc2 Xc1
T
,
fˆs (k) = 0 ˆ Γ13 = gc1 Xc1 + gc2 Xc1
T
A1 + gc2 WA2 ,
[ ]
I x̃(k) (27)

By removing the faults’ estimation from putout y(k), the compen-

Γ22 = Pc2 − gc2 Xc2 − gc2 Xc2
T
,
sated output yc (k) is ξ2 = (Ē + L2 Ā2 )−1 (Ā1 − L1 Ā2 ),
Γ33 = −Pc1 − gc1 (Xc1 T
A1 + WA2 ) − gc1 (Xc1 T
A1 + WA2 )T ,
yc (k) = y(k) − F2 fˆs (k)
Γ44 = −Pc2 − gc1 Xc2 ξ2 − gc1 (Xc2 ξ2 ) ,
T T T
= A2 x(k) + F2 fs (k) − F2 fˆs (k)
Λ44 = Pc2 − 2 cos ϑ1 Qc2 − Xc2 T
ξ2 − ξ2T Xc2 ,
˜
[ ]
= A2 x(k) + F2 0 I x̃(k) (28)
Λ33 = Pc1 − 2 cos ϑ1 Qc1 − (Xc1 A1 + WA2 ) − (Xc1
T T
A1 + WA2 )T .

Remark 3.2. (27) shows fault fs (k)’s estimation to lay the founda- L1 , L2 are given in Theorem 3.1 and scalars gc1 , gc2 satisfying
tion for controller design. Based on (27), the compensated output
2
gc1 < gc2
2
are arbitrary fixed. Moreover, the controller gain is that
T
yc (k) is shown. The more accurate the estimation of sensor faults K = (Xc1 B1 )−1 W .
is, the more accurate the compensation output is, therefore the
better the result of the active FTC method is. Proof. Considering Theorem 3.1’s proving course, one has
ϕc1
[ ]
Pcl − gc2 (Xc + XcT )
Consider controller (4), and use the compensated measure- <0 (35)
ment yc (k) to replace output y(k), it has ∗ ϕc2
⎡ ⎤
− Pc Qc + XcT 0 0
uc (k) = Kyc (k) (29) ⎢ ∗
⎢ ϕc3 −Xc D̄¯ 1 Ā¯ T2 ⎥
⎥<0 (36)
therefore the closed-loop systems are that ⎣ ∗ ∗ −γc2 I 0 ⎦
˜ + D1 d(k) ∗ ∗ ∗ −I
x(k + 1) = (A1 + B1 KA2 )x(k) + B1 K F̄2 x̃(k)
(30) where
˜
yc = A2 x(k) + F̄2 x̃(k)
[ ] ϕc1 = gc1 Xc + gc2 XcT Ā¯ 1 ,
where F̄2 = F2 0 I .
Combined with system (10), it is obtained that ϕc2 = −Pc − gc1 (Ā¯ T1 Xc + XcT Ā¯ 1 ),

Xe (k + 1) = Ā¯ 1 Xe (k) + D̄
¯ d(k) ϕc3 = Pc − 2 cos ϑ1 Qc − (Ā¯ T1 XcT + Xc Ā¯ 1 ).
1
(31)
yc (k) = Ā¯ 2 Xe (k) Set
[ ] [ ]
Xc1 0 P 0
where Xc = , Pc = c1 , Xc1
T
B1 K = W ,
[ ] [ ] 0 Xc2 0 Pc2
x(k) ¯ = D1 , Ā¯ = [A
, ,
]
Xe (k) = ˜ D̄1 2 2 F̄2 after some matrix manipulations, it is obtained that (33) and (34)
D̄1
[ x̃(k) ] hold. By using Definition 3.1, the stability of system (31) and (32)
A1 + B1 KA2 B1 K F̄2
Ā¯ 1 = . are proved in |ϑ| ≤ ϑ1 if two conditions (33) and (34) hold. The
0 S(Ā1 − L1 Ā2 ) proof is finished.

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx 5

Corollary 3.3. For γc > 0, system (31) has asymptotic stability and Table 2
(32) is met for ϑ2 ≤ ϑ ≤ ϑ3 , if there exist Pc = PcT = diag {Pc1 , Pc2 }, Comparisons with existing problems.
Reference Problem
Qc = QcT = diag {Qc1 , Qc2 } > 0, Xc = diag {Xc1 , Xc2 }, W such that
(33) and (37) hold. [31] Robust control of Markov jump models
[32] Fault reconstruction and compensation of continuous models
This paper Fault estimation and FTC of discrete models in
⎡ ⎤
−Pc1 0 Qc1 ejϑm + Xc1 0 0 0 finite-frequency domain
ejϑm Qc2 + Xc2
⎢ ⎥
⎢ ∗
⎢ −Pc2 0 0 0 ⎥
⎥
⎢ ∗ ∗ Σ33 −W F̄2 T
−Xc1 D1 AT2 ⎥
⎢ ⎥
⎢ ⎥
⎢ ∗
⎢ ∗ ∗ Σ44 T
−Xc2 D̄1 F̄2T ⎥
⎥
⎣ ∗ ∗ ∗ ∗ −γc2 I 0 ⎦
⎢ ⎥

∗ ∗ ∗ ∗ ∗ −I
<0 (37)

where

Σ33 = Pc1 − 2 cos ϑw Qc1 − (Xc1

T T
A1 + WA2 ) − (Xc1 A1 + WA2 )T ,
Σ44 = Pc2 − 2 cos ϑw Qc2 − Xc2
T
ξ2 − ξ2T Xc2 .
L1 , L2 are obtained in Corollary 3.1 and scalars gc1 , gc2 satisfying
2
gc1 < gc2 2
are arbitrary fixed. Moreover, the controller gain is that
T
K = (Xc1 B1 )−1 W .

Corollary 3.4. For γc > 0, system (31) has asymptotic stability and
(32) is met for |ϑ| ≥ ϑ4 , if there exist Pc = PcT = diag {Pc1 , Pc2 },
Qc = QcT = diag {Qc1 , Qc2 } > 0, Xc = diag {Xc1 , Xc2 }, W such that Fig. 1. State x(k)’s estimation.
(33) and (38) hold.
⎡ ⎤
Ξ11 0 Ξ13 W F̄2 Xc1 D1 0 4. Numerical simulations
Ξ22 Ξ24
⎢ ⎥
⎢ ∗
⎢ 0 Xc2 D̄1 0 ⎥
⎥
⎢ ∗
⎢
∗ Ξ33 −W F̄2 T
−Xc1 D1 AT2 ⎥
⎥ The example is given to explain that the designed FTC method
⎢ ⎥<0 (38) is effective. The parameters of this models considered are
⎢ ∗ ∗ ∗ Ξ44 T
−Xc2 D̄1 F̄2T ⎥
0.3 0.1 −2.0
⎢ ⎥ [ ] [ ] [ ]
0 0
⎣ ∗ ∗ ∗ ∗ −γc2 I 0 ⎦ , B1 = , D1 = ,
⎢ ⎥
A1 =
0 0.7 0 −0.2 0.5
∗ ∗ ∗ ∗ ∗ −I
0.1
[ ] [ ]
0 1 0
A2 = − , F2 = .
where 0 0.1 0 1

Ξ11 = −Pc1 − Xc1 − Xc1

T
, Let g1 = 1 and g2 = 3, in rang |ϑ1 | ≤ 1.8, for given γo = 0.5,
based on Theorem 3.1, the gains of the observer are given by
Ξ13 = −Qc1 + Xc1 + WA2 + T
Xc1 A1 ,
3.7585 −0.8997
⎡ ⎤ ⎡ ⎤
Ξ22 = −Pc2 − Xc2 − Xc2
T
, 0 0
⎢−0.4369 −1.9304⎥ ⎢0 0⎥
Ξ24 = −Qc2 + Xc2 + Xc2
T
ξ2 , L1 = ⎣ ,L = .
0.0758 −0.0900⎦ 2 ⎣1 0⎦
Ξ33 = Pc1 + 2 cos ϑw Qc1 − (Xc1
T T
A1 + WA2 ) − (Xc1 A1 + WA2 )T , −0.0437 −0.8929 0 1
Ξ44 = Pc2 + 2 cos ϑw Qc2 − Xc2
T
ξ2 − ξ2T Xc2 . Assume d(k) = 0.01 sin(k) and sensor fault
[ that disturbance
]T
L1 , L2 are obtained in Corollary 3.2 and scalars gc1 , gc2 satisfying fs (k) = f1 (k) f2 (k) has the following form:
2
gc1 < gc2 2
are arbitrary fixed. Moreover, the controller gain is that
{
0, 0 < k ≤ 15
{
0, 0 < k ≤ 15
T
K = (Xc1 B1 )−1 W . f1 (k) = , f2 (k) =
0.05 sin(k), k > 15 0.03 sin(k), k > 15
]T ]T
For the initial conditions x(0) = x1 (k) x2 (k) = −1 1.5 ,
[ [
Remark 3.3. Considering the proving course of Theorem 3.2,
Corollaries 3.3 and 3.4 are proved, namely, the controller gain K state x(k)’s estimation is given in Fig. 1, where x̂1 (k) and x̂2 (k) are
is given that system (31) is asymptotically stable and meets (32) denoted by xo1 and xo2 , respectively. Fig. 2 depicts the estimation
in ϑ2 ≤ ϑ ≤ ϑ3 and |ϑ| ≥ ϑ4 , respectively. of fault fs (k), where fo1 is f1 (k)’s estimation and fo2 is f2 (k)’s
estimation. Residual r(k) in (9) is given in Fig. 3. The output y(k)
Remark 3.4. In this paper, the connections among the fault in (1), its estimation ŷ(k) and the compensated output yc (k) in
estimator, the fault-tolerant controller and discrete systems for (28) are shown in Figs. 4, 5 and 6 respectively, where yo1 means
finite-frequency rang are shown using the descriptor system ap- ŷ1 (k) and yo2 means ŷ2 (k).
proach. For discrete systems where sensor faults happen, accord- Let gc1 = 0.05 and gc2 = 0.7, in rang |ϑ1 | ≤ 1.8, for given
ing to the descriptor system method, fault estimation is shown γc = 2.3, by considering results in Theorem 3.2, the controller
so that active FTC for low-, middle-, high-frequency rang can be gain is
presented. Some comparisons with existing problems about the −11.4188 1.8648
[ ]
descriptor system approach are proposed in Table 2. K = .
−1.6963 −12.1534

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
6 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx

Fig. 2. Fault fs (k)’s estimation. Fig. 5. Output y(k)’s estimation.

Fig. 3. Residual r(k). Fig. 6. Compensated output yc (k).

Fig. 4. Output y(k).

Fig. 7. Input u(k).

Considering the same initial conditions, faults and distur-

bances, input u(k) in (4) and compensated control input uc (k) in x(k) in closed-loop system (30). By comparison, this FTC method’s
(29), respectively, are given in Figs. 7 and 8. Fig. 9 describes state effectiveness is demonstrated.

Please cite this article as: X. Zhu, Y. Xia and M. Fu, Fault estimation and active fault-tolerant control for discrete-time systems in finite-frequency domain. ISA Transactions
(2019), https://doi.org/10.1016/j.isatra.2019.02.014.
 X. Zhu, Y. Xia and M. Fu / ISA Transactions xxx (xxxx) xxx 7

faults’ estimations are obtained. Then tolerant-fault controllers

are constructed to make closed-loop systems asymptotic stable.
Numerical simulations are shown the proposed scheme’s effec-
tiveness. Further research is that this active FTC method will be
applied to the actual systems, such as cloud control, internet of
things, aircraft navigation, target tracking and other areas of the
practical engineering.

Acknowledgments

The authors would like to thank the referees for their valu-
able and helpful comments which have improved the presen-
tation. The work was supported by the Beijing Natural Science
Foundation under Grant 4161001, the National Natural Science
Foundation under Grant 61836001, the National Natural Science
Foundation Projects of International Cooperation and Exchanges
under Grant 61720106010, the Foundation for Innovative Re-
search Groups of the National Natural Science Foundation of
China under Grant 61621063.
Fig. 8. Compensated input uc (k).

Conflict of interest

The authors declare that they have no conflict of interest.

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