Self-repairing Control Based on Switching Sensors

In this paper, a new self-repairing control system (SRCS) is developed for nonlinearly-perturbed plants with sensor failures of a stuck-type. The SRCS can automatically replace the faulty sensor with the healthy one if the failure occurs. Under the diverging condition, only a detector of the first order and an auxiliary signal are utilized to detect the failure exactly. Hence, no information about the plant is required. This paper also presents a concrete design method for the detector satisfying the diverging condition. Furthermore, a design of the SRCS based on high-gain feedback is shown.