Analytically redundant controllers for fault tolerance: Implementation with separation of concerns

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                                                                              

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           

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                                                                                     

                                          

                       

                                                                                 

            

                                                                                                              

         













   

                

 

 

 



 _

          

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

         



 _{} _{}

  

  

   

   

   

            

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                                                              

                                                                            

            





                                      





       _{}

      

 

_                 _

                                           







_{    }                     



   



_{}



 _{}   _  

   

   _{   }

   

             _

        





_{} 

  

   

   

   _{}

   _



   

 

   



 

 

    

    

 

  

 

 

 



        





   



  

 _ 



_{   }



_



   



  

   



   





 



   



  

   



   





 

  





_

  

  





 _

 

          __{     }

__{}

         





                

                 



       

   



    







   

    

        

    







    

                     

                       

                                               





                                                                             



         

               

 

                             

      

                                                                                           

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                                                            

                                      

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

                       

 

      

        



 

                                                            

                            _{ }

  

   

 _{}_



  

_                



                                                

 

              



  





          

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 

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                            

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 

                                                               

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

                  

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 

          

                              

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

     

 





                    



                                                        





                                      



 

                  

                



                          



 

     

 

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 

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                                                             

                               

                                           