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'''Control reconfiguration''' is an active approach in [[control theory]] to achieve [[Fault-Tolerant Control|fault-tolerant control]] for [[dynamic systems]] {{Harv|Blanke|Kinnaert|Lunze|Staroswiecki|2006}}. It is used when severe [[Fault (technology)|faults]], such as actuator or sensor outages, cause a break-up of the [[control loop]], which must be restructured to prevent [[failure]] at the system level. In addition to loop restructuring, the [[Controller (control theory)|controller]] parameters must be adjusted to accommodate changed plant dynamics. Control reconfiguration is a building block toward increasing the [[dependability]] of systems under [[feedback]] control {{Harv|Patton|1997}}.
== Reconfiguration
[[Image:ReconfStructure.png|frame|Schematic diagram of a typical active fault-tolerant control system. In the nominal, i. e. fault-free situation, the lower control loop operates to meet the control goals. The fault detection (FDI) module monitors the closed-loop system to detect and isolate faults. The fault estimate is passed to the reconfiguration block, which modifies the control loop to reach the control goals in spite of the fault.]]
=== Fault
The figure to the right shows a plant controlled by a controller in a standard control loop.
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\mathbf{y}_f & = \mathbf{C}_f\mathbf{x}_f + \mathbf{F}\mathbf{f}\end{cases}</math>
=== Reconfiguration
The goal of reconfiguration is to keep the reconfigured control loop performance sufficient for preventing plant shutdown. The following goals are distinguished:
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The question whether or not these or similar goals can be reached for specific faults is addressed by [[reconfigurability]] analysis.
== Reconfiguration
=== Fault hiding ===
[[Image:FaultHiding with Goals.png|frame|Fault hiding principle. A reconfiguration block is placed between faulty plant and nominal controller. The reconfuigured plant behaviour must match the nominal behaviour. Furthermore, the reconfiguration goals are pointed out.]]
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Linear-quadratic regulator design (LQR), model predictive control (MPC) {{Harv|Looze|Weiss|Eterno|Barrett|1985}},{{Harv|Lunze|Rowe-Serrano|Steffen|2003}},{{Harv|Maciejowski|Jones|2003}}
===
{{Harv|Mahmoud|Zhang|Jiang|2003}}
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Learning automata, neural networks etc. {{Harv|Rauch|1994}}.
== Mathematical
The methods by which reconfiguration is achieved differ considerably. The following list gives an overview of mathematical approaches that are commonly used {{Harv|Zhang|Jiang|2003}}.
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