This paper deals with the problem of induction motor tracking control against actuator faults and external disturbances using the linear matrix inequalities (LMIs) method and the adaptive method. A direct adaptive fault-tolerant tracking controller design method is developed based on Lyapunov stability theory and a constructive algorithm based on linear matrix inequalities for online tuning of adaptive and state feedback gains to stabilize the closed-loop system in order to reduce the fault effect with disturbance attenuation. Simulation results reveal the merits of proposed robust adaptive fault-tolerant tracking control scheme on an induction motor subjected to actuator faults. 1. Introduction With technology advances and modern control systems complexity increasing, rotating electrical machines play important roles in many fields especially in industrial processes because of their rigid, rugged, low price, reliable relative simplicity, and easy to maintain behaviors [1, 2]. However, the reliable electric drives are essential in all safety critical applications such as aerospace, transportation, medical, and military applications. In these applications, the reliability of electric drive systems must be ensured, and any failure in motor drives may result in loss of property and human life. Therefore, it is absolutely necessary for the motor drives (utilized in safety critical applications) in order to have a fault-tolerant capability and an ability to produce a satisfactory output torque even in the presence of faults [3–5]. That is why designing reliable drives has received great attention in the recent years. When a fault occurs in system components including sensors, actuators, and plant, it can cause performance reduction and the closed-loop system instability. Therefore, there is a crucial need to design a class of controllers to compensate the faults effects and guarantee system stability with acceptable performance. FTC design approaches develop controllers in order to guarantee system stability in the presence of faults and disturbances. They are classified as two main classes: passive FTC and active FTC [6–11]. In the passive FTC approach, robust control techniques are utilized to design a fixed controller for maintaining the acceptable system stability and performances throughout normal or faulty cases [11]. The passive FTC approach considers fault as a special kind of uncertainties, and consequently controllers are fixed and designed to be robust against a class of presumed faults. Then designing proper controllers becomes more conservative,
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