Multi-Loop Integral Control by Using Redundant Control Inputs for Passive Fault Tolerant Implementation


One of the advantages of using more than one actuator and multi-loop control structure for the control of a single output variable is its potential to tolerate system failures. Based on the analysis of the steady state behaviour of the process, this paper presents a theoretical examination of processes with redundant actuators. The concept of Decentralized Integral Controllability (DIC) has been extended to non-square nonlinear processes, and a steady state sufficient condition has been provided for the multi-loop integral control configuration. We illustrate the proposed analysis method by using the example of the regulation of heart rate response for treadmill exercises, in which both treadmill speed and gradient are served as control inputs for the regulation of a single output, heart rate.

  • Abstract
  • Key Words
  • 1 Introduction
  • 2 Multi-Loop Integral Controllability
  • 3 Conclusion
  • References

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