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Configuration selection for reconfigurable control of piecewise affine systems

In this paper, the problem of configuration selection, i.e. sensor/actuator placement for piecewise affine (PWA) systems subject to both sensor and actuator faults is considered. A method is proposed that provides a tool for the design phase to decide about the optimal placement of sensor/actuators where the reconfigurability of the system subject to sensor and actuator faults is also taken into account. Using a lattice of possible configurations (sensor/actuator placements), the reconfigurability of the system subject to faults for each configuration is evaluated and based on that one can draw conclusions about the reconfigurability of the system and the optimal configuration in the architecture design phase. A reconfigurable control must ensure stability of the reconfigured system and, if possible, a graceful degradation in the performance. Therefore, in the proposed reconfigurability analysis, we consider both stabilisability and performance of the system. The efficiency of the proposed method is demonstrated in several numerical examples.