Active Fault Tolerant Control of Nonlinear Systems: the Cart–Pole example

This paper describes an active fault tolerant control scheme that is developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach. The controller reconfiguration exploits directly the on–line estimate of the fault signal. The classical model of an inverted pendulum on a cart is considered as an application example, in order to highlight the feasibility and the efficiency of the proposed approach.