Introduction:

Nowadays, reliability and safety are critical attributes of electrical drive

systems used in high-risk applications, such as automotive electrical systems
traction drives, electric aircraft or high-power variable speed wind systems.
However, with growing concerns about robust drives at the lowest possible
cost, robust operation of electrical drives becomes a challenge in major
application elds. So, during last few years, fault tolerant control (FTC)
was a very active research eld for many research groups. The FTC aims to
ensure the continuous system functionality, even after faults occurrence.
This allows increasing system availability and reliability. So, FTC should be
able to detect faults and to cancel their effects or to attenuate them until
an acceptable level. Fault tolerance has been especially addressed in the
past literature to the control of power converters and electrical machines.
In recent years, growing concerns about sensor fault lead some researchers to
focus their efforts on developing sensor fault-tolerant electrical drives.

For example, in [18] and [19], the effect of current sensor fault on a doubly
fed induction machine (DFIM) is studied. In [20][22], error measurement
compensation is investigated. Works presented in [22][25] focus on sensor
fault detection and isolation (FDI) and control reconguration. These studies
show clearly that robust operation relies strongly on the availability and
quality of sensor measurements: if the error measurements are not detected
and handled quickly, their effect can lead to hard failure of the electrical
system. Notice that measurements can be corrupted or missed not only due to
sensor failure but also due to broken or bad connections, bad communication,
or some hardware or software malfunction [25]. All these cases will be
referred as a sensor fault in this paper. Common sensors in electrical drives
are usually current, voltage, and speed or positions sensors. For example,
Figs. 1 and 2 show the standard locations of different sensors for the case
of controlled ac drive and DFIM-based variable speed wind system (VSWS) when
they are controlled by commonly used controls such as direct torque control
(DTC), eld-oriented control (FOC), direct power control (DPC), voltage-
oriented control (VOC), etc. As depicted in these gures, many current and
voltage sensors are needed for the system control. The failure of one of them
will cause the system shutdown. There are several methods for sensor FDI that
depend on hardware redundancy, analytical redundancy, or both of them.
Hardware redundancy is very cost and cumbersome. Analytical redundancy is
based on mathematical model to provide redundant measurements. The most used
FDI methods are