In this paper, we present a comparative study of four voting algorithms in two observer-based fault-tolerant control (FTC) architectures for an electric vehicle (EV) induction motor drive. The first architecture, called output FTC, is based on the mechanical sensor, an EKF and a second-order sliding mode observer (SMO2). The second one, input FTC, is based on three controllers (PI, H∞ loop shaping and the generalized internal model control), the most appropriate being selected to ensure good behaviour in presence of a multiplicative sensor fault (the fault is modelled as an exponential type emulating a bias). A third architecture, called hybrid FTC, based on the previous output and input fault-tolerant schemes, is built to mitigate simultaneous faults. Simulation and experimental results for a 7.5-kW induction motor drive show the efficiency of the approaches and their robustness against parametric variations for different load conditions.
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