Fault recovery by nominal trajectory tracking

Fault accommodation is meant to control the faulty system so as to preserve a given functionality. In model matching, the state dynamics is wished to be fault-invariant, leading to the family of pseudo-inverse and modified pseudo- inverse methods. In this paper, rather than the closeness between the faulty and the nominal system matrices, it is the closeness of their respective trajectories that is required. This problem setting allows to trade-off the quality of the accommodated trajectories and the energy of the accommodated control, and provides a clear definition of recoverable faults.