In this paper, we present a robust actuator fault-tolerant control strategy for constrained linear systems, in the presence of bounded state and output disturbances. The scheme is based on a bank of state estimators which match different fault situations that can occur in the system. A fault detection and isolation (FDI) unit verifies that suitable residual variables lie inside pre-computed sets and selects the estimate that matches the current plant behaviour. A bank of robustly stabilising tube-based MPC control laws is designed, each associated to a fault scenario and the appropriate controller is selected among them using the information provided by the FDI module. By means of "tubes" of trajectories, we ensure robust closed-loop exponential stability of the constrained system and good performance in the fault-free case and under the occurrence of abrupt actuator faults.
18th World Congress of the International Federation of Automatic Control, 2011 (IFAC 2011). Proceedings of the 18th World Congress of the International Federation of Automatic Control 2011 (Milano, Italy 28 August - 2 September, 2011) p. 4678-4683