a. navarbaf

A novel design approach to construct a fault-tolerant control (FTC) system for a class of nonlinear systems based on a generalized Takagi-Sugeno (GT-S) fuzzy model is proposed. The local rules of the GT-S fuzzy model consist of some multiplicative nonlinear terms. The nonlinear system is affected by actuator faults and unknown disturbances. A state/fault observer is designed and then, a dynamic output feedback scheme is proposed based on the estimated fault and state information. The sufficient conditions for observer and controller design are separately given in terms of linear matrix inequalities (LMIs). It can be shown that the number of LMIs and the computational burden is less than that of similar methods and the effectiveness of the proposed dynamic output feedback FTC approach is verified by proposing simulation results applied to an inverted pendulum system.