Fault recoverability analysis of switched nonlinear systems

The recoverability reflects the capability of the system to tolerate the worst faults over a prescribed set under admissible energy constraints. In this paper, we present the minimum amount of control energy required to drive the initial state of a nonlinear system to the origin under certain assumptions, and we also give the corresponding optimal control law. This result is then extended to switched nonlinear systems under given switching signals. On this basis, a novel fault recoverability evaluation scheme is proposed for switched nonlinear systems with respect to the given limit of energy cost. Simulation results verify the effectiveness of the proposed method.