Fault-Tolerant Control for Multi-rate Networked Control System with Considering Long Time Delay

In this paper, a new approach of modeling and fault-tolerant control is presented for multi-rate networked control system (MRNCS) with considering long time delay. Firstly, the MRNCS is modeled as a switched system with linear subsystems and a random switching signal. By considering the switching signal (as the result of random induced delay) as a Markov chain, the model of MRNCS is obtained as a Markovian jump linear system. Then a mode-independent dynamic output feedback controller is designed to stabilize the closed-loop system. In continuation, with the purpose of system tolerance against the actuator fault (or load disturbance), a virtual actuator is used so that the reconfiguration is performed without needing for any changes in the main controller. Finally, the quadruple-tank process is used to validate the proposed modeling and control approaches.