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Fault Reconstruction for Three-Motor Web-Winding System Via Nonlinear Disturbance Observer

This paper presents a novel fault reconstruction scheme for three-motor web-winding system with actuator faults and multiple disturbances. The first part of the disturbances is the uncertain external disturbances brought about by the rotating motors, and the second one represents the uncertain variable caused by the parameter uncertainties and unmodeled dynamics, which is bounded by an unknown constant. A nonlinear disturbance observer based fault reconstruction observer is designed to estimate the uncertain external disturbances and faults simultaneously. Meanwhile, H∞ technique is utilized to attenuate the norm bounded uncertainties. Sufficient condition of asymptotic stability of the estimation error system is derived based on the Lyapunov stability theory. Observer gain matrices are obtained by solving the linear matrix inequality. Simulation and analysis are performed to verify the effectiveness of the proposed observer.