How can i reconfigure my Fault detection Isolation and recovery system to enable the Closed-Loop Operation to continue in the presence of sensor and rudder actuator faults.

fault_time = 30; % Time at which the stepwise fault occurs

fault_value = 10 * pi/180; % Fault value to be added

%fault_time = 20; % Time at which the driftwise fault occursfault_value = 0.2 * pi/180; % Fault value to be added

%fault_value = 0.5 * pi/180; % Fault value to be added to the measurement

% Initial Conditions of all inputs, states, and state derivatives

u = [0, 0.08725]'; % Define Initial Simulation Input

x = [0, 0, 0, 0, 0]'; % Define Initial Model States

xdot = [0, 0, 0, 0, 0]'; % Define Initial Model State Derivatives

% Limit the control input within the maximum rudder deflection

if u(2) > delta_r_max

u(2) = delta_r_max;

elseif u(2) < -delta_r_max

u(2) = -delta_r_max;

end

% Apply stepwise fault to the sensor measurement

if time == fault_time

x(5) = x(5) + fault_value;

end

% Apply driftwise fault to the sensor measurement

%if time >= fault_time

%x(5) = x(5) + fault_value;

%end

% Apply stepwise fault to the rudder measurement

%if time == fault_time

%u(2) = u(2) + fault_value;

%end

% Apply driftwise fault to the rudder measurement

%if time >= fault_time

%u(2) = u(2) + fault_value;

%end

% Calculate control input using PID controller

error = desired_heading - x(5); % Heading error

u(2) = Kp * error + Ki * stepsize; + Kd * (error - int_error) / stepsize;

int_error = error; % Update initial error

[Joan]

These are my initial PID gains;

% Define PID controller gains

Kp = 2;

Ki = 1;

Kd = 0.8;