A Fault Tolerant Control (FTC) system is referred to a controlled system that poses the capability to accommodate system component faults/failures automatically and is capable of maintaining overall system stability and acceptable performance in the event of such faults. An active FTC approach often consists of two integrated online functionalities, i.e., Fault Detection and Diagnosis (FDD) and Control Reconfiguration (CR). The FTC plays an essential rule in safe-critical systems, which now cover a wide range of engineering systems, from aircrafts, airspace systems and nuclear reactors, to the recent emerging energy systems, such as smart grid systems, offshore wind farms etc. The ultimate objective of applying FTC techniques is to cost-effectively increase engineering system’s reliability, safety availability and maintainability. 

This course covered the fundamental essentials and some latest results in active FTC research area, along with diverse application case studies.  

Both teachers have been working in this and relevant areas for over 25+ years, and they will share 50%-50% lectures and exercises with plenty of their first-hand knowledge and developments. The course materials will be the lecture slides, scientific papers and lecture notes, which will be distributed to participants before lectures.  

The course daily plan consists of 4 hours lectures (incl. breaks) and 2 hour exercises per day. The detailed daily time schedule is planned as:   

  • Kl.8.30-9.15 lecture-d-1 

  • Kl.9.15-9.30 break  

  • Kl.9.30-10.15 lecture-d-2 

  • Kl.10.15-10.30 break  

  • Kl.10.30-11.30 exercise-d-1 

  • Kl.11.30-12.30 lunch   

  • Kl.12.30-13.15 lecture-d-3 

  • Kl.13.15-13.30 break  

  • Kl.13.30-14.15 lecture-d-4 

  • Kl.14.15-14.30 break  

  • Kl.14.30-15.30 exercise-d-2

Day 1:  introduction & observer-based FDD (Zhenyu Yang, 4-hour lectures & 2-hour exercises) 

  • Lec-1-1: General introduction of FTC & Active FTC 
  • Lec-1-2: FDD principles & methodologies  
  • Lec-1-3: Observer-based FDD (incl single & multi-bank observers) 
  • Lec-1-4: Kalman-filter based FDD (single KF) 

Day 2:  FMEA and Structual Analysis (SA) method (Roozbeh Izadi-Zamanabadi, 4-hour lectures & 2-hour exercises) 

  • Lec-2-1: Failure Mode and effect analysis   
  • Lec-2-2: Introduction to structural analysis 
  • Lec-2-3: SA principles & computations 
  • Lec-2-4: SA applications & practical issues  

Day 3: Data-driven modeling and FTC methods 
(Roozbeh Izadi-Zamanabadi, 4-hour lectures & 2-hour exercises) 

  • Lec-3-1: Introduction to data-driven approaches and methods 
  • Lec-3-2: statistical approach to feature extraction for anomaly detection based on latent projection methods 
  • Lec-3-3: Active data-driven estimation/FDD methods 
  • Lec-3-4: Data-driven FDD/FTC applications  

Day 4: Unknown input observer & Kalman-Filter based FDD methods 
(Roozbeh Izadi-Zamanabadi & Zhenyu Yang, 4-hour lectures & 2-hour exercises)

  • Lec-4-1 (Riz): Introduction to unknown-input observer (UIO) method 
  • Lec-4-2 (Riz): UIO extended for FDD  
  • Lec-4-3 (ZY): Multi-Kalman filter based FDD  
  • Lec-4-4 (ZY): Fault residual evaluation methods (incl statistical methods) 

Day 5: Advanced FTC design & applications 
(Zhenyu Yang, 4-hour lectures & 2-hour exercises) 

  • Lec-5-1: Control Reconfiguration (CR) principles and integration with FDD 
  • Lec-5-2: Eigenstructure assignment method for FDD/FTC design  
  • Lec-5-3: H_infty control for robust reconfigurable control mixer design 
  • Lec-5-4: summary & wrap-up  

The participants need to have the fundamental knowledge about classical control theory (transfer-function based) and modern control theory (state-space based).  

Form of evaluation: The course will be evaluated based on a mini-project report after the course. This mini-project expects some illustration that the student can apply some techniques/knowledge learned from this course into their current PhD project. 

Remarks: This course has been run in 2015, 2017 and 2019 by the organizer and one external lecturer from UK university. This time the organizer will work with Prof Izadi-Zamanabadi from AAU ES, who is also affiliated as Lead Control Expert at Danfoss A/S, to teach this course, thereby the course content has some adjustments compared with previous years’ content.    

Organizer: Associate Professor, Zhenyu Yang, 

Professor Roozbeh Izadi-Zamanabadi, AAU ES & Lead Control Expert at Danfoss A/S 
Associate Professor Zhenyu Yang, AAU Energy 

ECTS: 4.0

Time: 25 April – 29 April 2022

Place: AAU Energy, Niels Bohrs Vej 8, 6700 Esbjerg

Number of seats: 30

Price6000 DKK for PhD students outside of Denmark and 8000 DKK for the Industry excl. VAT

Deadline: 4 April 2022

Important information concerning PhD courses:
We have over some time experienced problems with no-show for both project and general courses. It has now reached a point where we are forced to take action. Therefore, the Doctoral School has decided to introduce a no-show fee of DKK 3.000 for each course where the student does not show up. Cancellations are accepted no later than 2 weeks before start of the course. Registered illness is of course an acceptable reason for not showing up on those days. Furthermore, all courses open for registration approximately four months before start. This can hopefully also provide new students a chance to register for courses during the year. We look forward to your registrations.