DETECTION AND ACCOMMODATION OF COMPUTATION TIME DELAY FAULT

Abstract

The presence of computation time delay in
systems with digital control reduces the robustness and also
degrades its performance. In this paper, the computation
time delay is treated as a fault to be detected and
appropriate controller is used to minimize its effects. Using
the accumulated residuals functions, it is proposed a new
scheme for fault detection and for controller adaptation. The
proposed technique is used to control a Rotary Motion
Inverted Pendulum System to illustrate the design
procedures and the effectiveness of the method.

Index Terms ⎯ Computation time delay, discrete-time sliding mode control, fault detection, sliding mode observer.