On-line references reshaping and control reconfiguration for non-minimum phase

In this paper we consider the problem of graceful performance degradation, for affine non-minimum phase nonlinear systems. The method is an optimization based scheme, that gives a constructive way to re-shape on-line the output reference for the post-fault system, and explicitly take into account the actuators and states saturations. The on-line output reference reshaping is associated with an on-line, MPC-based, controller reconfiguration, that forces the post-fault system to track the new output reference. The effect of FDD uncertainties on the online controller reconfiguration stability are studied, to ensure at least boundeness of the closedloop system’s states. The reshaping and reconfiguration schemes are applied to the Caltech ducted fan numerical example, which is described by a non-minimum phase nonlinear model.