This paper presents a recent self-sampled-data control algorithm applied to nonlinear\nsystems with actuator failures. Our approach uses the linear model of a given nonlinear system,\nand based on a granted actuator fault observer method, an asynchronous sampled-data fault\ncompensator controller is then formulated. The proposed sampling rule is realized by using an\nevent-detector monitoring signal invention. On this way, the sampled rate is self governed and\nasynchronous by nature. Hence, our contribution is twofold. Fist, a new auto-generated non-uniform\nsampled-data mechanism is stated. Second, we grant an event-triggered control law with actuator\nfailure observation and compensation. Our findings are completely supported by employing\nLyapunov�s theory. Finally, according to our numerical experiments applied to an undamped\ntorsional pendulum, our design is able to detect a failure in the actuator device and it can stabilize the\nundamped torsional pendulum system presenting better performance in comparison to its open-loop\ndeployment.
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