Efficient Predictive Control for polytopic systems: application to the four-tank system
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The present work proposes to develop a Fault Tolerant Control strategy based on Robust Efficient Predictive Control for non-linear systems that can be modeled using a polytopic model. The proposed Efficient Predictive Fault Tolerant Control approach relies on the closed-loop Efficient Predictive Control approach that allows to guarantee stability by means of set-invariance and a multilevel hierarchical control approach that guarantees fault tolerance. The lower level control loop is designed by means of the standard optimal polytopic methodologies based on Linear Matrix Inequalities, enhanced by predictive control layer based on the closed-loop paradigm through invariant-set formulation. In the upper level, fault tolerance is achieved by means of establishing beforehand a set of bounded faults, against which the proposed Fault Tolerant Control scheme has to guarantee stability and performance. To achieve this, faults are considered as scheduling or uncertain parameters that can vary within a prespecified interval that corresponds to acceptable fault sizes. In order to test the proposed approach, the well-known four-tank system benchmark is considered. The application of the proposed approach implies obtaining a polytopic representation of the four-tank system that includes the fault effect as extra varying parameters. Different fault scenarios are used to illustrate the performance of the proposed strategy.