Observer-Based Robust Model Predictive Fault-Tolerant Control for Uncertainty State-Delay Systems Subject to Actuator Faults

This paper proposes a discrete-time polytopic uncertain systems with state delays, parameter uncertainties, and actuator faults, with embedded process constraints. To handle unmeasurable states, a state observer is integrated into the model predictive control framework, enabling synergistic state estimation and fault accommodation. Using a parameter-dependent Lyapunov-Krasovskii functional and robust positively invariant sets. Sufficient solvability conditions are established, and explicit observer and controller gains are derived. Comparative simulation studies conducted on a continuous stirred tank reactor temperature control system demonstrate that the proposed fault regulation strategy exhibits faster control performance recovery and smaller steady-state tracking fluctuations, thereby validating its effectiveness and practical superiority.