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Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
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5<br />
6<br />
Structure of Plant + Controller<br />
The st<strong>and</strong>ard<br />
control problem<br />
A system with control is a hybrid entity. The system can be<br />
changed <strong>by</strong> events, some of which are faults. We may change<br />
the controller <strong>and</strong>/or the system <strong>by</strong> action of a supervisor.<br />
A Hybrid System<br />
A bathtub is a hybrid system.<br />
Dynamic relation between<br />
input flow q, height h <strong>and</strong> area A( h)<br />
are<br />
1<br />
ht ()<br />
= qt ()<br />
Ah ( )<br />
Holds only until<br />
the edge is reached:<br />
ht (<br />
) = 0 for h= hedge<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
q(t)<br />
h(t)<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
3
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