This paper presents a new approach for fault tolerant control system (FTCs) design based on robust nonlinear model predictive control (NMPC) for multivariable affine systems. The proposed FTCs uses an estimation scheme that is based on adaptive extended kalman filter (AEKF) for the state estimation of plant and loss of effectiveness factors of actuators. A supervisor module also uses the fault modeling and correction of plant model per sampling time to accommodate bias and loss of effectiveness of actuators. In addition by feedback compensation in NMPC, the proposed controller is robust through plant uncertainties. The most important advantage of the proposed approach is its ability to deal with the constraints and simultaneous fault in actuators and it is practical. Simulation results of the proposed method on automotive engine show the effectiveness of the proposed method.

Keywords: Fault Tolerant Control system, Robust Nonlinear Model Predictive Control, Adaptive Extended Kalman Filter, Actuators Fault

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