Abstract

The problem of fault-tolerant control for a class of discrete-time multi-input–multi-output systems is addressed with actuator faults and complex-coupling property of controlled plants. To avoid the non-causality problem, the equivalent model is established by the proposed coupling-matrix with the fractional input–output data and Multi-input fuzzy rules emulated networks (MiFREN) while the diagonally dominant condition is completely omitted and actuator faults are imitated by the coupling-matrix. Then, another MiFREN is utilized as the direct adaptive controller and the learning law is established to ensure closed-loop performance through rigorous mathematical analysis. The effectiveness of the proposed controller is validated by the numerical system and the activated sludge treatment processes (ASTP) over the comparison results in dealing with complex-coupling, unknown actuator faults, noisy measurements and undefined disturbances.