Performance evaluation of reliable h infinity observer controller with robust pid controller designed for trms with sensor, actuator failure

The partial or complete failure of sensors and actuators used in twin rotor MIMO system (TRMS) is considered as uncertainty, which may lead to control system failure resulting in severe damages. Hence, there is a need to design a controller which performs identically with and without sensor or actuator failures. The observer based controller approach is used to isolate these failures. The H infinity observer designed estimates all the states of the TRMS even under sensor, actuator failure. This is successfully used with a state feedback H infinity controller to isolate sensor, actuator fault. The novel implementation of robust proportional integral and derivative controller with H infinity observer is also done for twin rotor MIMO system with the same sensor, actuator failure. Its performance is compared with reliable H infinity observer controller. The real time implementation results are presented.