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Fault Tolerant Control of EPS System with Sensor Fault

Taking into account the sensors faults, modeling of electric power steering (EPS) behavior improves steering reliability. Such task becomes difficult considering the nonlinearity of EPS systems. Therefore, in order to ensure the good behavior stability of the EPS, it is important to validate such established models on a real system. Hence, a fault tolerant control (FTC) design is herein proposed by considering an occurring fault at the torsion bar. A Luenberger observer is used to estimate the torque sensor fault. The FTC is performed to compensate this sensor fault by using the inverse bond graph (BG) modeling. Our simulations reveal the importance of proposed control strategy to improve the EPS system performance but also to reduce the system complexity.