Fault-Tolerant Model Predictive Control with Active Fault Isolation

A robust control method is presented for linear systems subject to input and state constraints, bounded disturbances and measurement noise, and discrete faults in sensors, actuators, and system dynamics. The approach uses set-based fault detection and isolation techniques to coordinate switching between controllers designed for each fault scenario. In contrast to previous approaches, the fault isolation method uses an active input designed to guarantee isolability subject to input and state constraints.