Fault Tolerant Control for Uncertain Time-Delay Systems with a Trajectory Tracking Approach

<div>Nominal input <svg height="11.4781pt" id="M207" style="vertical-align:-2.18977pt" version="1.1" viewbox="-0.0498162 -9.28833 21.1733 11.4781" width="21.1733pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M528 97L513 125C484 95 440 68 431 68C425 68 421 76 427 107C449 227 476 342 505 451H495L418 424L385 278C338 191 220 62 157 62C145 62 133 76 145 130L200 368C215 434 210 451 183 451C157 451 92 418 24 352L37 324C78 356 106 377 115 377C123 377 122 364 116 340L64 115C58 89 56 68 56 52C56 2 78 -12 103 -12C127 -12 159 -4 190 18C247 59 309 113 366 187H368L351 108C328 1 348 -12 368 -12C403 -12 472 33 528 97Z" id="g50-118"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="552" vert-adv-y="552"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.176,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,11.83,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.342,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg> and FTC <svg height="14.6868pt" id="M208" style="vertical-align:-5.39847pt" version="1.1" viewbox="-0.0498162 -9.28833 27.4886 14.6868" width="27.4886pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M528 97L513 125C484 95 440 68 431 68C425 68 421 76 427 107C449 227 476 342 505 451H495L418 424L385 278C338 191 220 62 157 62C145 62 133 76 145 130L200 368C215 434 210 451 183 451C157 451 92 418 24 352L37 324C78 356 106 377 115 377C123 377 122 364 116 340L64 115C58 89 56 68 56 52C56 2 78 -12 103 -12C127 -12 159 -4 190 18C247 59 309 113 366 187H368L351 108C328 1 348 -12 368 -12C403 -12 472 33 528 97Z" id="g50-118"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="552" vert-adv-y="552"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.111,3.001)"><path d="M620 667C620 684 593 710 552 710C515 710 459 687 409 634C360 582 334 506 320 433H247L215 400L220 388H310L259 80C224 -129 199 -161 185 -174C175 -183 160 -192 141 -192C123 -192 90 -181 75 -165C69 -158 64 -156 54 -164C39 -178 24 -195 24 -208C24 -231 61 -257 94 -257C124 -257 162 -243 209 -194C267 -134 303 -66 343 107C369 220 378 279 393 385L503 397L523 433H404C432 619 464 660 500 660C522 660 542 646 566 621C573 614 583 615 593 621C603 628 620 648 620 667Z" id="g50-103"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="644" vert-adv-y="644"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,13.492,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.146,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,22.657,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Fault Tolerant Control for Uncertain Time-Delay Systems with a Trajectory Tracking Approach 