Abstract
For a two-cart system (TCS), this paper presents a new design method for a self-repairing control system (SRCS). The SRCS can automatically detect the failure of the sensor within a prescribed time, and the detection time period can be shortened by adjusting the parameter of the nonlinear detection filter. The control part of the SRCS is based on high-gain feedback which is utilized in adaptive control. However, the TCS is of the relative degree two. Hence, in this paper, the well-known backstepping strategy is introduced to make a virtual plant of the relative degree one for the purpose of high-gain feedback.
