International Journal of Engineering and Technical Research (IJETR)
ISSN: 2321-0869 (O) 2454-4698 (P), Volume-5, Issue-1, May 2016
BPI Observer-based Fault Tolerant Control Design
for a Class of Fuzzy Bilinear Systems
Dhikra Saoudi
Abstract In this paper, a new methodology of Bilinear
Proportional Integral (BPI) observer-based Fault Tolerant
Control (FTC) for a class of nonlinear systems with bilinear
terms is proposed. Nonlinear systems are represented by the
Takagi-Sugeno (T-S) Fuzzy Bilinear Model (FBM). The
objective is to design a stable and robust fault-tolerant
controller based on a T-S fuzzy BPI observer. The proposed
BPI observer estimates simultaneously the states of the system
and the occurring time varying faults with the final goal to
adapt control law strategies in order that the system remains
stable even in fault case. Further, the stability conditions of the
designed BPI observer and the state feedback control are
analysed with Lyapunov theory to ease the design of FTC. The
gains of the BPI observer and the state feedback control law are
obtained by solving linear matrix inequalities (LMI) under
equality constraints. Moreover, we proposed some sufficient
conditions for robust BPI observer-based fault tolerant control
of the FBM with parametric uncertainties. Finally, an academic
system is presented to illustrate the robustness of the proposed
controller with respect to uncertainties.
Index TermsT-S fuzzy bilinear model, Bilinear
proportional integral observer, Observer-based control, Fault
tolerant control, Lyapunov function, Parametric uncertainty,
LMI.
I. INTRODUCTION
The Bilinear systems are a special class of nonlinear
systems, where the dynamics are jointly linear in the state and
input variables, that attract the interest of researchers [1], [2].
Moreover, there are many engineering applications as well as
models in biology, ecology, nuclear engineering are naturally
described by bilinear systems. Furthermore, many nonlinear
systems can be adequately approximated bilinear systems.
As a special extension, fuzzy bilinear systems based on the
T-S fuzzy model with bilinear rule consequence have
attracted the interest of researchers [3]-[5]. It is proved in
these papers that often nonlinear behaviors can be
approximated by T-S bilinear multimodel description. Some
topics of control are extended to T-S FBM, such as stability
and stabilization in [6], [7], observers and state estimation in
[8]-[10], faults detection and fault tolerant control [9]-[11].
Fault Tolerant Control have become challenging problems
in the area of modern control theory. FTC allows having a
control loop that fulfils its objectives when faults appear.
Thus great interest has been accorded to the fault tolerant
controllers for nonlinear systems in the literature [12]-[14].
Moreover, it is noted that all of the aforementioned assume
that the system states are measured, which is not true in many
control systems and real applications. For this reason,
observer-based fuzzy controllers were considered in many
researches. In [15], [16], the authors have studied the
Dhikra SAOUDI, LSA - Laboratoire des Systmes Avancs,
Polytechnic High School of Tunisia, University of Carthage, BP 743, 2078
La Marsa, Tunisia.
155
controller designs based on fuzzy observers for T-S fuzzy
systems. Nonetheless, in [17], [18], the authors have
proposed sufficient design conditions for robust stabilization
of T-S fuzzy models with parametric uncertainties based on
state estimation. However, to the best of our knowledge, no
previous study has investigated the problem of an BPI
observer-based FTC for T-S fuzzy bilinear models and a
robust stabilization for uncertain T-S fuzzy models.
In this paper, we consider the fault-tolerant control
problem for the fuzzy bilinear systems with parametric
uncertainties. Fuzzy BPI observer is designed to estimate
simultaneously the states and the occurring time varying
faults. Based on the fault estimation, the fault-tolerant
controller is designed to ensure that the closed-loop system
with faults is asymptotically stable.
This paper is organized as follows. In section II, the
considered structure of the T-S fuzzy bilinear system is
presented. In Section III, the problem statement is described.
In Section IV, the problem of observer-based control for the
FBM is developed. In section V, the robust control of the
FBM with parametric uncertainties is proposed. An example
is provided to show the effectiveness of the proposed design
in the subject of section VI.
II. T-S FUZZY BILINEAR SYSTEMS MODELING
The TS fuzzy bilinear models based on the T-S fuzzy
model with bilinear rule consequence are defined by
extending the T-S fuzzy ordinary model. Similar to [19], the
fuzzy bilinear model can be represented by the following
fuzzy if-then rules:
Ri : if 1 (t ) is Fi1 and and g (t ) is Fig
then x(t ) Ai x(t ) Bi u (t ) N i x (t ) u(t) (1)
y (t ) Cx(t )
where Ri denotes the i th fuzzy rule i 1, , r , r is the
number of if-then rules, i (t ) are the premise variables which
can be measurable or not measurable, and Fij j (t ) are
fuzzy set. x(t ) n is the state vector, u (t ) is the
control input, and y (t ) p is the system output. The
matrices Ai , Bi , Ni , C are known matrices. Then,
the overall FBM can be described as follows:
r
x(t ) hi ( (t )) Ai x(t ) Bi u (t ) N i x(t ) u(t)
(2)
i 1
y (t ) Cx(t )
where hi (.) verify the following properties:
r
hi ( (t )) 1
i 1 i 1, 2, , r (3)
0 h ( (t )) 1
i
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 BPI Observer-based Fault Tolerant Control Design for a Class of Fuzzy Bilinear Systems

In the remainder of the paper, the following lemmas are used.
Lemma 1: For any matrices A and B with appropriate
dimensions, the following property holds for any positive
scalar :
is a given scalar, and Di 1n , i 1, , r are vectors
to be determined.
In the following section, we will be developing the BPI
observer-based control problem for the T-S FBM.

AT B BT A AT A 1 BT B (4) IV. STABILIZING FAULT TOLERANT CONTROL FOR FBM

In order to estimate both state and faults of FBM, we
Lemma 2: Given a scalar 0 and a symmetric positive
propose a BPI observer and make an analysis of the error
definite matrix P , the following inequality holds: system, from which we provides a design method of a fuzzy
observer for the fuzzy bilinear system (2). The considered
2 xT y 1 xT Px yT P 1 y , x, y n (5) BPI observer is described by the following equation:
r H i z (t ) Li y (t ) J i u (t )
Lemma 3: Let us consider P a positive definite matrix and z (t ) hi (t )

Q a full column rank matrix. It follows that the matrix i 1 M i u (t ) y (t ) i f (t )

x(t ) z (t ) Ey (t ) (8)
QPQT is a positive definite matrix.
y (t ) Cx (t )
III. PROBLEM STATEMENT r
f (t ) hi (t ) i y (t ) y (t )
Let us consider the T-S fuzzy bilinear models containing
i 1
the actuator faults which can be rewritten in the following
form: where z (t ) n , x(t ) n , y(t ) p and f (t ) f are
r
Ai x(t ) Bi u (t )
x(t ) hi ( (t )) (6)
the observer state vector, the estimated state vector, the
i 1 N i x (t )u (t ) Gi f (t ) estimated output vector and the estimated faults vector
respectively. H i , M i , Li , J i , i , i and E
y (t ) Cx(t )
are unknown matrices of the BPI observer of appropriate
where f (t ) is an actuator fault. dimensions to be determined.

Note that the premise variables do not depend on the state

Assumption 1: The fault f (t ) satisfies f (t ) 1 and the
variables estimated by a BPI observer.
first time derivative of f (t ) with respect to time is norm
bounded i.e. f (t ) 2 and 0 1 , 0 2 . Let us consider the state and fault estimation errors defined
respectively by:

The main objective of FTC design is to find a control law ex t x t x t (9)

u (t ) such that the closed-loop system remains stable despite
the presence of actuator faults. Then, it is necessary to
estimate the states and faults. In this paper, a BPI observer is e f t f t f t (10)
utilized for estimate both the states and the actuator faults
with the final goal to adapt control law strategies such that the From (8) and (9), the state estimation error given as follows:
system remains stable even in actuator fault case. Following
the design concept in [1], the fuzzy control law for FBM is ex t Tx t z t (11)
formulated as follows:
r
Di x(t )
u (t ) hi (t ) where T I n + EC .
i 1 1 x T (t ) DiT Di x (t )
r (7) By taking into account (2) and (8), the dynamics of the state
hi (t ) sin i (t ) estimation error and the closed-loop system with the state
i 1
r feedback control law defined in (7) becomes after some
hi (t ) Di x (t ) cos i (t ) calculations:
i 1

H i ex (t ) TAi Li C H iT x (t )
where: r
ex t hi (t ) TN i M i C x (t )u (t ) TBi J i u (t )
i 1
TGi i f (t ) i e f (t )
Di x(t )
sin i (t )
1 x (t ) DiT Di x (t )
T

1 (12)
cos i (t )
1 x T (t ) DiT Di x (t )
r r x(t ) Bi D j cos j ex (t )
x(t ) hi (t ) h j (t ) ij
i , G f (t )
2 2
i 1 j 1 i

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 International Journal of Engineering and Technical Research (IJETR)
ISSN: 2321-0869 (O) 2454-4698 (P), Volume-5, Issue-1, May 2016
(13) Then, the state x (t ) of the system, the state estimation error
ex (t ) and the fault estimation error e f (t ) are bounded. The
where:
gains of the observer and the state feedback control law are
given by:
ij Ai N i sin j Bi D j cos j (14)
E P21S , J i P21 Ri , M i P21U i ,
Hence, if the following conditions hold true
H i I n EC Ai P21Wi C , i P21Yi ,
(25)
i 1, 2, , r
Li P21Wi H i E , i P31Z i , Di Vi Q 1
TAi - Li C - H iT 0 (15)
Proof: In the framework of a FTC by state-feedback, a new
procedure is proposed such that the closed-loop system and
TNi M i C 0 (16)
the convergence of the state and fault estimation errors
becomes asymptotically robust stable by using a Lyapunov
TBi J i 0 (17) function-based design approach. Let us consider a Lyapunov
function V (t ) depending on x(t ) , ex (t ) and e f (t ) defined
Then, the equation of the observing error becomes by:

ex t hi (t ) H i ex (t ) i f (t ) i e f (t )
r
(18) V (t ) xT (t ) P1 x(t ) eTx (t ) P2ex (t ) eTf (t ) P3e f (t )
i 1 (26)

with i TGi i where P1 , P2 and P3 are symmetric and positive definite

matrices with appropriate dimensions. Stability condition for
From (15) and using T I n + EC , we get the estimation error yields that the time derivative of (26)
should be negative definite. The derivative of V (t ) with
H i TAi Ki C (19) respect to time yields:

with Ki H i E Li (20) xT (t ) P1 x(t ) xT (t ) P1 x(t )

r r T
V (t ) hi (t ) h j (t ) ex (t ) P2ex (t ) ex (t ) P2ex (t )
T

The goal is to design a feedback control law such that the i 1 j 1 T

e f (t ) P3e f (t ) e f (t ) P3e f (t )
T
system remains stable even if a fault occurs. A result is
summarized in the following theorem. (27)

Theorem 1: If there exist symmetric positive definite that becomes by using equations (18) and (13):
matrices Q , 1 , 2 , 3 , P1 and P2 , matrices Wi , Vi
xT ij x eTx i ex 2 xT PG
1 i f

Yi , Z i , Ri , U i , S and positive scalars , , 0

2 x P1 Bi D j cos j ex

T
such that LMIs (21) subject to linear equality constraints r r

(22), (23) are satisfied i 1 r , j 1 r . V (t ) hi (t ) h j (t )
2ex P2 i f 2ex P2i e f
T T
i 1 j 1

2e f P3 f 2e f P3 iCex
T T
LM 1 * * * * * * *

NQ I * * * * * *
i (28)
BV i j 0 I * * * * * (21)

Q 0 0 1
3 * * * * where:
0
BVi j
T
0 0 0 2 Q * * *
0 0 0 0 0 2 I * * ij Tij P1 P1ij (29)

0 0 0 0 I 0 LM 2 *

0 0 0 0 0 I LM 3 1 2 i HiT P2 P2 Hi (30)

Ri P2 SC Bi (22) By using the Assumption (1) and applying Lemma (2) for
three terms of the above inequality (28), it follows that:
U i C P2 SC Ni (23)

LM 1 AQ
i QAiT 2 I
(24)
LM 2 P2 SC Ai AiT P2 SC WiC WiC 11
T T

LM 3 YiT Zi C

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 BPI Observer-based Fault Tolerant Control Design for a Class of Fuzzy Bilinear Systems

2eTx P2 i f 1eTx 1ex f T Ti P2 11 P2 i f r r
min min hi (t ) h j (t ) ij
(38)
t 0
e 1ex
1 T 1 i 1 j 1
x

2e P3 f 1eTf 2 e f f T P3 21 P3 f
T
f (31)
which can be also bounded by:
e 2e f
1 T 2

min min ij
f
(39)
T
1 i f
2 x PG x 3 x f T GiT P1 31 PG
1 T
1 i f i, j

1 xT 3 x 3 If the following inequality holds:

with: r r

h (t ) h (t )
i j ij 0 (40)

1 12 max Ti P2 11 P2 i
i 1 j 1

2 22 max P3 21 P3
(32) Then, we can obtain that

3 12 max GiT P131 PG

1 i V (t ) X a (t )
2
(41)

Let us define the scalar the maximum value of the sum of It follows that V (t ) 0 if X a (t ) 2 , t 0 . Then, we
all constant coefficients obtained in the equalities (32):
can deduce that the state x (t ) , the state estimation error
max 1 2 3 (33) ex (t ) and the fault estimation error e f (t ) converge to a small
set according to Lyapunov stability theory and lie in it. This
Then, the time derivative of the Lyapunov function (28) is set is smaller as the constant converges to zero.
bounded as follows:
Let us introduce the following notations for the sake of
x ij x e i ex
T T
simplicity:
x

2 x P1 Bi D j cos j ex
T
r
r r

Y hi (t ) Yi (42)
V (t ) hi (t ) h j (t ) 2eTx P2i e f 2eTf P3 i Cex i 1
i 1 j 1 1 T
ex 1ex e f 2 e f
1 T
r r
1 T Y hi (t ) h j (t ) Yij (43)
x 3 x

i 1 j 1

(34) where Yi and Yij are given matrices. By using these notations,
the inequality (40) becomes:
The above inequality (34) can be reformulated as follows:
1
2

0 (44)
r r
V (t ) X (t ) hi (t ) h j (t ) ij X a (t )
T (35) 4
a
*
i 1 j 1

where the augmented vector X a and the matrix ij are with:

respectively given by:

1 ij 13 (45)

x(t )
(36)
2
P1 Bi D j cos j 0 (46)
X a (t ) ex (t )
e f (t )

11 P2i i C P3
T

4
i
ij 13 P1 Bi D j cos j 0 * 1 2
(47)
ij i 11 P2i i C P3
T
*

* * 1 2 Let us consider a symmetric matrix defined as:

(37) P11 0 P11 0

, 1
(48)
0 1 0 I
Let us define the positive scalar
By using Lemma (3), and post and pre-multiplying the
inequality (44) by , we can obtain that:

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 International Journal of Engineering and Technical Research (IJETR)
ISSN: 2321-0869 (O) 2454-4698 (P), Volume-5, Issue-1, May 2016

P111 P11 P11

2
1 bilinear model with actuator faults:
0 (49)
Ai Ai x(t ) Bi Bi u (t )
1 1
4 r
x(t ) hi ( (t ))
*

N N x(t )u (t ) G f (t )
i 1 i i i
The term 1
4
1 can be replaced by considering the
y (t ) Cx (t )
following inequality which holds for any scalar such that
(56)

0
1
4

1 T
4
1
4

1
(50)
The parameter uncertainties considered here are
norm-bounded and presented by the form

1
1
4
1 21 2
4 (51)
Ai Bi Ni Fi (t ) E1i E2i E3i (57)
i

Then from the above inequality (51) and with the Schur where , E1i , E2i , E3i are known real constant matrices of
i
Complement, it follows that the inequality (49) holds if:
appropriate dimensions, and Fi (t ) is an unknown matrix
P P
1 1 1
P 1
1 2
0 function satisfying Fi T (t ) Fi (t ) I , in which I is the
1 1 1
(52)
* 2 1 I 0 identity matrix of appropriate dimension.
* * 4

The feedback controller and the state of BPI observer for T-S
FBM with parametric uncertainties (56) is the same as that
Now, the term P111 P11 of (52) can be rewritten as: for (6).

In order to describe the dynamic of BPI observer (8), the state

P111 P11 P11 AiT Ai P11 N i P11 sin j P11 N iT sin j
and fault estimation errors is defined by (9), (10). Then, from
Bi D j P11 cos j P11 Bi D j cos j 1 P113 P11
T
(56) and (8), we have:

(53)
H i ex (t ) TAi Li C H iT x (t )

Applying lemma (1), the previous equation can be rewritten r
TN i M i C x (t )u (t ) TBi J i u (t )
as: ex t hi (t )
i 1
T Ai x (t ) T Bi u (t ) T N i x (t )u (t )
TGi i f (t ) i e f (t )
P111 P11 P11 AiT Ai P11 P11 N iT N i P11 2 I
(54)
B D
T
P 1
1
i j Bi D P P P
j 1
1 1
1
1
3 1
1
(58)

From the inequality (54) and the matrices (46), (47), using the r r ij ij x(t ) Gi f (t )
notations (42), (43), replacing H i by (19) and T I n EC x(t ) hi (t ) h j (t )
i 1 j 1 Bi Bi D j cos j ex (t )
and by introducing the following variable changes:

Q P11 , D j V j Q , Wi P2 K i , Yi P2i (59)

(55)
Ri P2 J i , U i P2 M i , Z i P3 i , S P2 E where:

we can obtain the inequalities given in theorem (1) by ij Ai N i sin j Bi D j cos j (60)
applying the Schur's complement [20] to (52) under equality
constraints (22), (23). This completes the proof of the
theorem. ij Ai N i sin j Bi D j cos j (61)

This section is devoted to the design of a BPI observer-based If the conditions (15), (16), (17) are satisfied
control for T-S FBM. The system parameters used are known i 1, 2, , r , we get:
but in reality the system parameters may either be uncertain
or time-dependent. Moreover, the problem of stabilization
remains a key problem in the study of uncertain T-S fuzzy H i ex (t ) T Ai x(t ) T Biu (t )
r
ex t hi (t ) T Ni x(t )u (t )
control systems and their controller designs. The study of BPI (62)

observer-based control for T-S FBM with parametric i 1 TG f (t ) e (t )
uncertainties will be subject the next section. i i i f

V. ROBUST CONTROL OF THE FUZZY BILINEAR MODEL WITH By using (7), we obtain:
UNCERTAINTIES
In this section, we shall consider a uncertain nonlinear
system which can be described by the following T-S fuzzy

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 BPI Observer-based Fault Tolerant Control Design for a Class of Fuzzy Bilinear Systems

r r 1i ex (t ) i2 f (t ) 1 E1Ti E1i * * * * *
ex t hi (t ) h j (t ) 3 (63)
I

i x(t ) i e f (t ) E2i D j * * * *
i 1 j 1 E3i 0 I * * *
LM 6 Ti I

where : 0 0 * *
E2i D j 0 0 0 1 I *

1i H i T Bi D j cos j (64)

1 2 2 T i 0 0 0 0 1 I

21 *
LM 7
i2 TGi i (65) LM 3
LM 2 *

3i T Ai T Bi D j cos j T N i sin j (66) LM 3 2
1

Hereafter, we give the following theorem which presents
sufficient conditions such that the closed-loop fuzzy system
(59) is globally asymptotically stable in the presence of
actuator faults and which gives the gains of the observer and
the state feedback control law.
Then, the state x (t ) of the system, the state estimation error
ex (t ) and the fault estimation error e f (t ) are bounded. The
gains of the observer and the state feedback control law are
given by:

Theorem 2: If there exist symmetric positive definite E P21S , J i P21 Ri , M i P21U i ,

H i I n EC Ai P21Wi C , i P21Yi ,
matrices Q , 1 , 2 , 3 , P1 and P2 , matrices Wi , Vi (71)
Yi , Z i , Ri , U i , S and positive scalars , , , 0 Li P21Wi H i E , i P31Z i , Di Vi Q 1
such that LMIs (67) subject to linear equality constraints
(68), (69) are satisfied i 1 r , j 1 r . Proof: In order to prove the stability of the closed-loop
system and the convergence of the state and fault estimation
LM 1 * * * * * ** * * * * * errors, sufficient conditions are derived using Lyapunov
NQ I * * * * * * * * * * function (26). Then, the derivative of V (t ) with respect to
i
BV i j 0 I * * * * * * * * * time yields:

Q 0 0 31 * * * * * * * *
E1i Q 0 0 0 I * * * * * * *

E2iV j 0 0 0 0 I * * * * * * xT ij ij x eTx ij ex
EQ 0
0 0 0 0 0 I * * * * *
3i 2 xT PG
1 i f 2ex P2i e f
T
LM 4 0 0 0 0 0 0 I * * * *
EV


*
r r

2i j
0 0 0 0 0 0 0 1 I * *
V (t ) hi (t ) h j (t ) 2 xT P1 Bi Bi D j cos j ex
LM 5 0 0 0 0 0 0 0 0 1I * * i 1 j 1
2ex P2 i f 2ex P2 i x
T 2 T 3

BV
i j 0 0 0 0 0 0 0 0 0 LM 6 *
2eT P f 2eT P Ce
0 0 0 0 0 0 0 0 0 0 0 LM 7
f 3 f 3 i x

(72)
(67)
where:
Ri P2 SC Bi (68)
ij P1ij Tij P1 (73)
U i C P2 SC Ni (69)
where: ij P1ij Tij P1
(74)
LM 1 AQ QAiT 2 I

LM 2 P2 SC Ai AiT P2 SC WiC WiC 11

T T

ij H iT T Bi D j cos j P2
T

(75)
LM 3 YiT Zi C
LM 4 T
i I EC
T
P2 H i T Bi D j cos j
LM 5 1 2 I EC
2 T
i
T
By using (31), the time derivative of V (t ) (72) is bounded as
follows:

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ISSN: 2321-0869 (O) 2454-4698 (P), Volume-5, Issue-1, May 2016

xT ij ij x eTx ij ex 1ij Ai P11 N i P11 sin j Bi D j P11 cos j

2 xT P1 Bi Bi D j cos j ex P11AiT P11N iT sin j P11 Bi D j cos j
T

r r (85)
V (t ) hi (t ) h j (t ) 2eTx P2i e f 2eTx P2 i3 x 2ij T Bi D j P21 cos j P21 T Bi D j cos j
T

i 1 j 1 T
2e f P3 i Cex ex 1ex
1 T
3ij Bi D j P11 cos j P21 T Ai
T

1 T
1 T

P21 T Bi D j cos j P21 T N i sin j
e f 2 fe x 3 x
T T

(76)
The equation ij can be reformulated as follows:
where is defined by (33).

The above inequality (76) can be reformulated as follows: ij 1ij ij2 ij3 (86)

r r
V (t ) X aT (t ) hi (t ) h j (t ) ij X a (t ) (77) where:
i 1 j 1
0 11 0 0 ij21 0
ij

where the augmented vector X a is defined by (36) and the 1ij * 0 0 , ij2 * 0 0 ,
matrix ij is given by: * * 0 * * 0 (87)

1ij 0 0
1ij ij2 0
(78) *
3
2ij 0
ij * ij 11 ij3
ij
* * 0
* * 2
1

with
ij P2 T Ai P2 T Bi D j cos j
11 1 T 1 T

1ij ij ij 13 (88)
(79) P21 T N i sin j
T

ij21 Bi D j P11 cos j

P1 Bi Bi D j cos j i3
T
2
ij P2
(80) Using the uncertainties structure and by using the separation
lemma 1 [21], we obtain
3ij P2i i C P3
T
(81)
Tij1 0 0
(89)
From (91), we have: ij * T 2
ij 0
* * 0

ij ij ij (82)
where:
where ij is defined by (37) and :

Tij1 1 2 2 T i Fi Fi T T
i T T P11 DTj E2Ti E2i D j P11
1ij 3ij 0 + 1 P11 E1Ti E1i P11 1 P11 DTj E2Ti E2i D j P11

ij * 2ij 0 (90)
+ 1 P11 E3Ti E3i P11 2 1T i Fi Fi T T
TT
* * 0
i
Tij2 1 P21 E1Ti E1i P21 1 P21 E3Ti E3i P21
(83)
+ 1 P21 DTj E2Ti E2i D j P21 1 2 i Fi Fi T T
i

with:
+ 1 2 2 i Fi Fi T T
i P21 DTj E2Ti E2i D j P21

1ij ij
From (82) and (89), we have:
2ij P2T Bi D j cos j T Bi D j P2 cos j
T (84)
1
2
1
2

3ij P1Bi D j cos j i3 0 (91)
T
P2 4 4
* *

Multiplying the previous equations (84) on the left and right

where 1ij , ij2 , ij4 are defined by (45)-(47) respectively and
by P11 and P21 , we can rewrite (84) as:
1ij , ij2 , ij4 are given by:

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 BPI Observer-based Fault Tolerant Control Design for a Class of Fuzzy Bilinear Systems

1ij Tij1 D1 3.343 0.098 1.254 , D2 0.041 1.008 0.254

(92)
0 0
2
9.022 4.533 9.022 0
E 5.976 8.965 , M 1 M 2 5.976 0
ij

T 2
0
ij4 ij
2.046 3.569 3.046 0
* 0
0.688 1.056 504.851 752.266
Using (49), (51) and with the Schur Complement, it L1 103 * 0.399 0.584 , L2 656.529 987.282
follows that the inequality (91) holds if: 1.567 2.344 165.730 249.618
P111 P11 1 P11
2
1
2
0
0 J1 18.166 9.956 4.461 , J 2 47.110 27.882 13.229
T T

* 4
0 0 (93)
0 51.288 10.218 77.669 23.644 46.592 0.148
2 1 I

* * H1 29.304 31.204 32.793 , H 2 53.635 17.602 25.086

4
* * * 112.873 80.082 15.084 14.954 1.058 9.543
1 2 4.511 2.988 1.523
T

We calculate each terms of inequality (93) and by

considering the variable changes (55), we can obtain the 1 2 1.523 2.988
inequalities given in theorem (2) by applying the Schur's
complement [20] to (93) under equality constraints (68), (69). The simulation results are shown in figures (1)-(4). The
This completes the proof of the theorem. time-varying actuator fault and its estimate are depicted on
Figure 1. It appears clearly the good estimation of this
VI. NUMERICAL EXAMPLE actuator fault. Furthermore, the BPI observer provides the
To illustrate the effectiveness of the proposed method, an fault estimation which errors are illustrated in the figures 2.
example is considered. The dynamical FBM is given by the One can shows the fault estimation error is zero-mean except
following data: at time 1s, 7s and 9s that suits abrupt changes of the fault.
2 1 0 5 2 0 0 1
A1 1 3 0 , B1 1.2 , N1 0 0 0 , G1 0

2 1 8 2.5 0 0 1 1
2 0 1 4 2 0 0 1
A2 0.5 2 0 , B2 2 , N 2 0 0 0 , G1 0

2 1 1 0 0 0 1 1
1 0 1
C
1 1 0

Uncertainties are also defined by the following matrices:

0.1 0 0 0 0.5 0 1 0 0 0
0 0 0.1 , E 0 0 0.3 , E 0.5 , E 0 0 0
1 11 21 31
0 0.1 0 0 0 0 0 0 0 0
0.1 0 0 0 0.5 0 1 0 0 0
0 0 0.1 , E 0 0 0.6 , E 0.5 , E 0 0 0 Fig 1. Evolution of the fault and its estimate
2 12 22 32
0 0.1 0 0 0 0 0 0 0 0
The weighting functions are defined by:

x 5 2
h1 x(t ) exp 1 1 , h2 x(t ) 1 h1 x(t )
2 2

The additive actuator fault signal is defined as follows :

0 t 1s
0.5sin 0.5 1s t 7 s

f (t )
0.3 7 s t 9s
0 t 9s

Thus, the resolution of the conditions of theorem 2 leads to

the following controller and observer gain matrices Fig 2. Fault estimation error
respectively with 0.05

162 www.erpublication.org
 International Journal of Engineering and Technical Research (IJETR)
ISSN: 2321-0869 (O) 2454-4698 (P), Volume-5, Issue-1, May 2016
Fig 3. The output y1 (t ) of the system: nominal output,
output without FTC and output with FTC
Fig 4. The output y2 (t ) of the system: nominal output,
output without FTC and output with FTC
The figures (3-4) compares the outputs of the nominal model,
the outputs of the faulty system without FTC and the outputs
with FTC. One can see that the trajectory of the system
follows the trajectory of the reference model, even in fault
case. It is clear that the proposed strategy is robust with
respect to the actuator additive fault f(t) and with parametric
uncertainties. Moreover, the BPI observer-based FTC
scheme provides good results in the presence of
norm-bounded parametric uncertainties, as shown in the
figures.
VII. CONCLUSION
This paper proposes a state feedback fault tolerant control
law methodology for T-S fuzzy bilinear systems. A T-S fuzzy
BPI observer is designed for the proposed FTC strategy in
order to simultaneously estimate time varying faults and state
variables. This method aims to adapt the control law in order
to compensate the effect of the time-varying faults by
maintaining the stability of the system. The stability
conditions of the designed observer and the state-feedback
control has been provided and solved through a set of Linear
Matrix Inequalities under equality constraints. Moreover,
sufficient conditions for controller design based on state
estimation for robust stabilization of T-S FBM with
parametric uncertainties has been proposed. Finally, the
performance of the proposed BPI observer based FTC
approach has been given to an example in order to illustrate
the validity of this method.
163
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