New insights for applications of Kreisselmeier's structure in robust and fault tolerant control

This paper addresses a two degree of freedom structure discussed by Kreisselmeier for the SISO case in 1999. The discussion herein considers a MIMO setting, and aims at the use of this control topology for robust and fault tolerant control. It is also shown how design barriers can be obtained for robust I/O transfer behavior assignment and robustness evaluation schemes can be devised which allow for the quantitative valuation of I/O transfer behavior degradation in the presence of plant model uncertainty. The concepts and techniques are illustrated and assessed using an in-flight simulation problem.