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Mathematical Problems in Engineering
Volume 2015, Article ID 259056, 16 pages
Research Article

FTC with Dynamic Virtual Actuators: Characterization via Dynamic Output Controllers and Approach

Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia

Received 24 July 2015; Accepted 13 September 2015

Academic Editor: Qingling Zhang

Copyright © 2015 Dušan Krokavec et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper presents new conditions, adequate in design of dynamic virtual actuators and utilizable in fault-tolerant control structures (FTC) for continuous-time linear systems, which are stabilizable by dynamic output controllers. Taking into account disturbance conditions and changes of variables in FTC after virtual actuator activation and applying the nominal control scheme relating to the biproper dynamic output controller of prescribed order, the design conditions are outlined in terms of the linear matrix inequalities within the enhanced bounded real lemma forms. Using a free tuning parameter in design, and with suitable choice of the controller order, the approach provides the way to obtain acceptable dynamics of the closed-loop system after activation of the dynamic virtual actuator.