Robust input/output model matching of asynchronous sequential machines under intermittent actuator faults

Abstract

A robust model matching control scheme for input/output asynchronous sequential machines (ASMs) with intermittent actuator faults is presented in the framework of corrective control. In our problem setting, certain actuator outputs are not transmitted to the machine temporarily owing to random faults. We first present a state observer that predicts the current stable state of the machine based on the output burst and control input, as well as diagnoses actuator faults. We then address the existence condition and design procedure for an output-feedback corrective controller that matches the input/output behavior of the closed-loop system to that of a reference model against intermittent loss of actuator outputs. To demonstrate the applicability of the proposed control method, we implement a practical asynchronous digital system with the developed corrective controller on the field-programmable gate array (FPGA) circuit. Experimental verifications using the FPGA circuit are also provided.