Design of Polynomial Observer-Based Fault-Tolerant Controller for Polynomial Systems with State Delay: A Sum of Squares Approach

This paper investigates both fault estimation and fault-tolerant control problems for polynomial systems with state delay in presence of faults. Before studying the control problem, a polynomial observer is proposed to jointly estimate state and fault vectors. Based on the obtained informations, a polynomial controller is designed to compensate fault effects and to stabilize the closed-loop systems even in presence of state delay. The existence of both polynomial observer and controller is proved via satisfying sufficient conditions based on a sum of square (SOS) approach. Polynomial observer and controller gains are computed using SOSTOOLS. Finally, a numerical example is given to demonstrate that the SOS approach provides a significant improvement in reaction to fault occurrence for time delay systems. Furthermore, a tunnel diode circuit and a mass–spring–damper system are used to illustrate the applicability of the design method.