Fault-Tolerant Control of a 2 DOF Helicopter (TRMS System) Based on H_infinity

Abstract— In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H∞ is presented. In particular, the introductory part of the paper presents a FaultTolerant Control (FTC), the first part of this paper presents a description of the mathematical model of TRMS, and the last part of the paper presented and a polytypic Unknown Input Observer (UIO) is synthesized using equalities and LMIs. This UIO is used to observe the faults and then compensate them, in this part the shown how to design a fault-tolerant control strategy for this particular class of non-linear systems.