A self-repairing control system for plants with faulty actuators

This paper is concerned with a new self-repairing control system (SRCS) for plants with faulty actuators. The proposed SRCS can automatically detect an abrupt actuator failure and switch from the faulty actuator to the healthy one. The switching logic (repairing policy) is based on only the evaluation of the output and the designed input of the plant. Hence, it is not necessary to exploit the observers and/or the accurate mathematical models of the plant for fault detection.