Our previous works have proposed a self-repairing PID (SRPID) control for plants with sensor failures. This method uses an I-controller (integrator) with a well-designed auxiliary signal to detect failures. However, the SRPID has not addressed actuator failures. This paper presents a two-step detection method for actuator and sensor failures based on the SRPID and confirms the effectiveness of the proposed detection method through experiments on a ball-and-beam system.
Actuator and sensor failures, Self-repairing control, PID, fault detection
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