Optimal selection for sensor fault tolerant control of an EMS system via loop-shaping robust control

A systematic framework is presented for optimum sensor selection for control and fault tolerance subject to complex system requirements. The framework combines the well known robust control via loop-shaping design, the fault tolerance control concept and multiobjective optimisation. The framework is tested via realistic simulations on an Electro- Magnetic Suspension system which is a non-linear, unstable and safety-critical system with a set of non-trivial requirements.