This paper proposes a structural fault recoverability analysis using the bond graph (BG) approach. Indeed, this tool enables structural analysis for diagnosis and fault tolerant control (FTC). For the FTC, we propose an approach based on the inverse control using the inverse BG. The fault tolerant control method is also compared with another approach. Finally, simulation results are presented to show the performance of the proposed approach. 1. Introduction Due to the growing complexity of the dynamical systems, there is an increasing demand for safe operation, fault diagnosis (FDI) (fault detection and isolation), and fault tolerant control (FTC) (strategies for control redesign). Different approaches have been developed for the designing and the implementation of FDI and FTC procedures [1]. These techniques are based on the knowledge of the system model (model-based methods) [2, 3] or its structure (data-based methods) [4, 5]. FTC is categorized into two different techniques: passive FTC (PFTC) [6, 7] and active FTC (AFTC) [8, 9]. In PFTC, controllers are fixed and designed to be robust against a class of presumed faults. The AFTC approach reacts to system component failures actively by reconfiguring control actions and acceptable performance of the entire system can be maintained. This paper is focused on the design of a novel AFTC that integrates a reliable and robust fault diagnosis scheme with the design of a controller reconfiguration system. The FDI and FTC are fully integrated in dynamic systems design in several fields of engineering, such as robotic and automotive systems. Nevertheless, it must have tool that enables coupling the diagnosis results with fault tolerant control conditions. Therefore, the BG enables integrating both structural diagnosis results with control analysis. A BG model allows knowledge of a large amount of structural, functional, and behavioral information. This information enables computing appropriate control actions that compensate the faults. The BG has proven to be a powerful tool not only for generating the direct model of a system but also for obtaining its inverse model. In [10], the authors have proposed an inverse control strategy based on BG model. The innovative interest of the present paper is to combine the inverse control strategy and observer designs to generate the FDI and FTC algorithms from the BG model. The proposed approach takes into account the parameter uncertainties and considers the fault recoverability with respect to fault compensation, without complex calculations. In the first part of the
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