An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems

In this chapter an internal model based approach to implicit Fault Tolerant Control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturbances representing exogenous effects of possible faults; this can be solved following an adaptive internal model based approach. The theoretical machinery exploited is specialized for the energy-based port-Hamiltonian formalism. Finally an application example is presented in order to point out the effectiveness of the design procedure here presented: a FTC problem is solved for a magnetic levitation system affected by periodic voltage disturbances.