Reconfigurable fault-tolerant control using GIMC structure

In this note, a fault-tolerant control strategy is proposed from a robust control perspective by applying the recently introduced GIMC (Generalized Internal Mode Control) architecture. This fault-tolerant control design consists of two parts: a nominal performance controller and a robustness controller, and works in such way that when a sensor failure is detected, the controller structure is reconfigured by adding a robustness loop to compensate the fault. This note shows how to design such controllers for a single-input two-output gyroscope system so that the performance with the nominal controller may be maintained in the case of sensor failure and/or model uncertainties.