System for fault-tolerant embedded electronic actuation using redundant feedback loops

Abstract

A fault-tolerant embedded electronic actuation system, implemented as a device integrated into a machine or structural assembly, wherein the system comprises: an electronic actuation unit that is mechanically connected to a load-bearing or motion-transmitting element of the machine or structure and is configured to produce a controlled mechanical output in response to an electrical control signal; an embedded control unit arranged in the device with one or more processors that are operationally connected to a non-volatile memory; a multitude of feedback sensors that are operationally connected to the embedded control unit, each feedback sensor being physically arranged to detect a respective actuator parameter associated with the operation of the electronic actuation unit; wherein the embedded control unit is configured to execute multiple closed-loop feedback control paths simultaneously, each closed-loop feedback control path being assigned to a different feedback sensor unit and configured to generate an independent actuator state representation and corresponding correction control contribution; and A feedback coordination unit, executed by one or more processors and configured to compare the independent actuator state representations over successive control cycles to determine the relative consistency and reliability of the closed feedback control paths and to generate a composite actuation control signal by selectively combining the correction control contributions, so that controlled actuation is maintained despite a fault or deterioration affecting at least one feedback sensor unit or closed feedback control path.

Description

Technical field of the invention

[0001] The present invention relates to embedded electronic control and actuation systems. In particular, it relates to a fault-tolerant, embedded electronic actuation system that is implemented as an integrated device in a machine or a component group and achieves reliable and continuous mechanical actuation through the coordinated interaction of redundant feedback loops, embedded signal processing, and adaptive control logic that can detect, isolate, and compensate for faults during operation. BACKGROUND OF THE INVENTION

[0002] Embedded electronic actuator systems are fundamental components of modern machinery and engineering structures. They enable the precise and responsive control of mechanical movements, forces, or displacements through electronic control signals. Such systems are widely used in industrial machinery, robotics, transportation systems, aerospace structures, medical devices, and infrastructure control systems. As these applications increasingly demand autonomy, precision, and safety, the reliability of embedded actuators has become a crucial design consideration.

[0003] Conventional embedded actuator systems are typically based on a simple closed-loop control architecture. A sensor measures an actuator parameter such as position, velocity, torque, or current, and a controller adjusts the control signal based on the measured deviation from a setpoint. While these architectures are effective under normal conditions, they are susceptible to sensor errors, signal noise, calibration drift, component aging, electrical disturbances, and partial mechanical wear. A failure or corruption of the feedback signal can lead to unstable control, faulty actuation, or unsafe mechanical behavior.

[0004] Common approaches to improving reliability often involve duplicating sensors or actuators, or implementing higher-level fault monitoring. Simple sensor duplication cannot identify which sensor is faulty and may fail if redundant sensors exhibit correlated degradation. Hardware-based actuator redundancy significantly increases system size, weight, power consumption, and cost, making it impractical for many embedded applications. Higher-level fault monitoring systems introduce latency and dependence on external controllers, which is undesirable for safety-critical, real-time actuators.

[0005] Furthermore, existing embedded actuator systems generally lack mechanisms for the coordinated evaluation of multiple feedback paths and for adaptively adjusting control behavior. Most systems either shut down upon detecting a fault or continue operating at reduced power without properly isolating the fault source. This leads to unnecessary downtime, reduced safety margins, and increased maintenance costs.

[0006] In many industrial and automotive systems, fault tolerance is implemented at higher levels of the control hierarchy rather than directly within the embedded actuator. Higher-level controllers monitor the overall system behavior and intervene in case of abnormal conditions. While this multi-layered approach offers some protection, it introduces latency and reliance on external communication links. In the event of a communication failure or processor overload at the higher level, the embedded actuator may lack sufficient fault handling capacity. This is particularly problematic in safety-critical scenarios where a rapid, local response is essential.

[0007] Another limitation of existing solutions lies in their limited ability to classify errors. While most embedded actuator systems are designed to detect the presence of an error, they are not capable of identifying its nature.

[0008] Sensor errors, mechanical wear of the actuator, power supply problems, and interference from external loads can all manifest as deviations in the feedback signals, but require different countermeasures. Without precise fault classification, systems may take inappropriate corrective actions, such as unnecessarily disabling an actuator or reducing power beyond what is required for safety.

[0009] Power supply fluctuations and electromagnetic interference further complicate the operation of embedded actuator systems. Many existing designs assume a stable power supply and interference-free signal environments, which are often not the case in real-world installations. Voltage drops, transient voltage spikes, and electromagnetic noise can corrupt feedback signals or disrupt control logic, leading to faulty fault detection or unstable actuation. Conventional systems typically address these problems through filtering and shielding, but these measures are insufficient to guarantee fault tolerance under all operating conditions.

[0010] The current state of the art reveals a significant gap between the need for robust, intelligent, and fault-tolerant embedded actuators and the capabilities of existing solutions. Common approaches rely on either excessive hardware duplication, simple redundancy systems, or external control. None of these approaches can adequately address the challenges of real-time fault detection, classification, and resolution in a compact embedded device. These limitations underscore the need for an embedded electronic actuator system that utilizes coordinated redundant feedback loops, operates autonomously within a machine or structure, and maintains stable actuator performance even under multiple simultaneous fault conditions. SUMMARY OF THE INVENTION

[0011] The present invention relates to a fault-tolerant, embedded electronic actuator system implemented as a device integrated into a machine or component group. The system comprises an electronic actuator unit mechanically coupled to a component of the machine or component group, an embedded control unit with one or more processors and memory, and several feedback sensors for monitoring various actuator-relevant parameters. The embedded control unit executes several closed-loop control processes simultaneously, each generating an independent actuator state representation and a correction contribution. A feedback coordination unit evaluates the consistency and reliability of the control loops and generates a composite actuator control signal by selectively combining or suppressing individual contributions.Fault detection, classification and correction are performed in real time to ensure continuous and safe actuator operation even under adverse conditions.

[0012] The objective of the present invention is to provide a system for fault-tolerant embedded electronic actuators that ensures reliable and stable actuator performance when integrated into a machine or structural assembly, even in the presence of faults, impairments or disturbances affecting sensor, control or actuator components.

[0013] Another objective of the invention is to provide an embedded actuator device that utilizes multiple redundant, simultaneously operating feedback loops, wherein each feedback loop independently monitors the actuator behavior and contributes to real-time control, thereby reducing the dependence on a single sensor or feedback path.

[0014] Another objective of the invention is to enable a continuous real-time evaluation of the consistency and reliability of feedback information originating from heterogeneous sensor sources, so that faulty, drifting, or noisy feedback signals can be identified and their influence on actuator control reduced or eliminated without interrupting the operation of the main machine or structure.

[0015] Another objective of the invention is to provide a fault-tolerant control architecture that is able to distinguish between sensor errors, actuator wear, electrical anomalies and external mechanical disturbances based on a comparative analysis of the behavior of redundant feedback loops, thereby enabling suitable corrective measures for each type of error.

[0016] Another objective of the invention is to enable a dynamic reconfiguration of the actuator control behavior, including the adaptive adjustment of control parameters and feedback weighting, in response to detected fault conditions, in order to maintain limited, predictable and safe actuator performance under deteriorated operating conditions.

[0017] Another objective of the invention is to provide an embedded actuator system that operates autonomously within a device mounted in a machine or structure and minimizes the dependence on external higher-level controls or communication links for real-time fault handling and safety-critical decision-making.

[0018] Another objective of the invention is to reduce system downtime and maintenance interventions by enabling a gradual deterioration of actuator performance instead of an abrupt shutdown in the event of partial failures in sensor, control or actuator systems.

[0019] Another objective of the invention is to provide a scalable and adaptable fault-tolerant actuation architecture that can be implemented across different types of electronic actuators and mechanical configurations without requiring excessive hardware duplication or a significant increase in size, weight or power consumption.

[0020] Another objective of the invention is to improve compliance with safety and reliability requirements for embedded actuation systems in critical applications by providing verifiable fault detection, isolation and compensation mechanisms within the actuation device itself.

[0021] Another objective of the invention is to improve the long-term operational stability of embedded actuation systems by compensating for the gradual aging of components, environmental fluctuations and load changes by means of continuous feedback evaluation and adaptive control, thereby extending the service life and improving the reliability of the overall system. BRIEF DESCRIPTION OF THE IMAGE

[0022] These and other features, aspects and advantages of the present invention will be better understood if the following detailed description is read with reference to the accompanying drawing, in which the same symbols represent the same parts: Fig. Figure 1 shows a block diagram of a system for fault-tolerant embedded electronic actuators.

[0023] Furthermore, those skilled in the art will recognize that the elements in the drawing are simplified and not necessarily drawn to scale. For example, the flowcharts illustrate the process by highlighting the main steps to facilitate understanding of the present disclosure. With regard to the construction of the device, one or more components may be represented in the drawing by conventional symbols. The drawing may show only those specific details relevant to understanding the embodiments of the present disclosure, so as not to clutter the drawing with details that are already apparent to those skilled in the art from the description contained herein. Detailed description of the invention

[0024] To facilitate understanding of the principles of the invention, reference is made below to the embodiment shown in the drawing, which is described using specific terms. It is understood, however, that this does not limit the scope of protection of the invention. Rather, modifications and further developments of the depicted system, as well as further applications of the inventive principles shown therein, are conceivable, insofar as they would normally occur to a person skilled in the art in the field of the invention.

[0025] It will be clear to those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not to be understood as a limitation of it.

[0026] References to “an aspect”, “another aspect”, or similar phrases in this description mean that a particular feature, structure, or property described in connection with the embodiment is included in at least one embodiment of the present disclosure. Therefore, phrases such as “in one embodiment”, “in another embodiment”, and similar expressions in this description may, but do not necessarily, all refer to the same embodiment.

[0027] The terms "includes," "comprehensive," or similar expressions denote non-exclusive inclusion. Thus, a procedure or method containing a list of steps does not only include those steps but may also include further steps not explicitly listed or inherent in the procedure or method. Likewise, the statement "includes..." for one or more devices, subsystems, elements, structures, or components, without further limitations, does not preclude the existence of other devices, subsystems, elements, structures, or components.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meanings generally known to those skilled in the art in the field to which this invention belongs. The systems, methods, and examples described herein serve only for illustration and are not to be understood as limiting.

[0029] Embodiments of the present disclosure are described in detail below with reference to the attached drawing.

[0030] Fig.Figure 1 shows a block diagram of a fault-tolerant, embedded electronic actuator system implemented as a device integrated into a machine or structure. The system 100 comprises: an electronic actuator unit (102) mechanically coupled to a load-bearing or motion-transmitting element of the machine or structure and configured to produce a controlled mechanical output in response to an electrical drive signal; an embedded control unit (104) arranged within the device, comprising one or more processors connected to non-volatile memory; multiple feedback sensors (106) connected to the embedded control unit, each feedback sensor being arranged to detect a respective actuator parameter associated with the operation of the electronic actuator unit; the embedded control unit (108) being configured tothat it executes several closed-loop feedback control systems (108a) simultaneously, each closed-loop feedback control system being associated with a different feedback sensor and configured to generate an independent actuator state representation and a corresponding correction contribution; and a feedback coordination unit (110) executed by one or more processors and configured to compare the independent actuator state representations over successive control cycles to determine the relative consistency and reliability of the closed-loop feedback control paths and to generate a composite actuation control signal by selectively combining the correction control contributions, such that controlled actuation is maintained despite a fault or deterioration affecting at least one feedback sensor unit or closed-loop feedback control path.is maintained.

[0031] In one embodiment, the numerous feedback sensor units (104) comprise sensor elements that respond to different physical properties of the electronic actuating unit, including at least one sensor element that responds to mechanical displacements or positions, and at least one sensor element that responds to an electrical operating parameter of the electronic actuating unit.

[0032] In one embodiment, each closed-loop feedback control path (108a) is executed using its own set of control parameters stored in non-volatile memory. The different sets of control parameters are chosen to produce varying sensitivities to noise, load fluctuations, and actuator response delay.

[0033] In one embodiment, the feedback coordination unit (110) is configured to calculate deviation values ​​between the paths, which represent the differences between the independent actuator state representations generated by the closed feedback control paths within a common control cycle.

[0034] In one embodiment, the feedback coordination unit (110) is configured to detect a feedback sensor unit as defective if the path deviation values ​​associated with a corresponding closed feedback control path permanently exceed a stored deviation tolerance, while the other closed feedback control paths have mutually consistent actuator state representations.

[0035] In one embodiment, the feedback coordination unit (110) is configured to detect actuator degradation when correlated deviation values ​​between the paths are detected across a plurality of closed feedback control paths connected to different feedback sensor units.

[0036] In one embodiment, the feedback coordination unit (110) is configured to assign a variable weight to each correction control contribution based on a certain reliability level of the corresponding closed feedback control path.

[0037] In one embodiment, the feedback coordination unit (110) is further configured to gradually reduce the weighting of the correction control contribution associated with a closed feedback control path that exhibits unstable or inconsistent behavior over several control cycles.

[0038] In one embodiment, the embedded control unit (108) further comprises a fault adaptation unit configured to modify at least one of the following actuation control constraints: maximum actuation size, rate of change of actuation, or reversibility of actuation direction when a fault condition is detected.

[0039] In one embodiment, the error compensation unit is configured to penetrate a limited actuation range stored in non-volatile memory while simultaneously allowing continued actuation via the remaining reliable closed-loop control systems.

[0040] In one embodiment, the embedded control unit (108) is configured to store a reliability history for each closed control loop based on detected deviations, fault classifications and stabilization behavior after the occurrence of a fault.

[0041] The system is implemented as a self-contained, embedded device integrated into a machine or structure and mechanically coupled to a component requiring controlled movement or force. The electronic actuator unit generates a mechanical output in response to electrical control signals generated by the embedded control unit. The control unit comprises one or more processors and permanent memory that stores control parameters, reliability data, deviation tolerances, and predefined operating ranges. The processors execute real-time control routines in a fixed control cycle determined by the mechanical and electrical characteristics of the electronic actuator unit.

[0042] Multiple feedback sensors are physically arranged to monitor various parameters associated with the electronic actuator unit. Each feedback sensor generates a measurement signal corresponding to a different physical domain, such as mechanical position or displacement, the electrical operating states of the actuator unit, or the dynamic behavior of the driven component. The measurement signals are acquired by the integrated control unit and time-synchronized to ensure that all feedback data is assigned to the same control cycle before further processing.

[0043] For each feedback sensor unit, the embedded control unit executes a dedicated control loop. Each control loop independently processes its associated measurement signal to generate an actuator state representation that reflects the current operating state of the electronic actuator unit from the respective sensor's perspective. This actuator state representation is compared to a reference state derived from a setpoint stored or received by the control unit. Based on this comparison, each control loop calculates a correction contribution intended to reduce the deviation between the observed actuator state representation and the reference state.

[0044] The control paths of the closed-loop control system are parameterized independently, so that each path exhibits a different response behavior with regard to noise sensitivity, load changes, and reaction delay. This deliberate diversity ensures that errors or disturbances affecting one feedback sensor unit or control path do not affect the other control paths in the same way. The correction contributions generated by the individual control paths of the closed-loop control system are not applied directly to the electronic actuator unit, but are instead fed to a feedback coordination unit implemented by the processors.

[0045] The feedback coordination unit implements the system's central fault tolerance technique. In each control cycle, it compares the actuator state representations generated by the closed feedback control paths and calculates deviation values ​​between the paths. These deviation values ​​quantify the differences between the independently determined actuator state representations. They are compared with stored tolerance ranges that characterize the expected fluctuations during normal operation.

[0046] If the deviation values ​​between the paths are within the expected tolerance ranges, the feedback coordination unit determines that the closed feedback control paths are consistent. In this case, the feedback coordination unit combines the correction contributions into a composite actuator signal using a weighted aggregation process. The weighting of the individual correction contributions takes into account both the inherent reliability characteristics of the associated feedback sensor unit and a continuously updated reliability history managed by the embedded control unit.

[0047] If a deviation value between the control paths exceeds the expected tolerance range, the feedback coordination unit performs a temporal analysis over several consecutive control cycles to determine whether it is a temporary disturbance or a persistent anomaly. Temporary disturbances are detected if the deviation decays within a few control cycles and the remaining feedback control paths behave stably. Persistent anomalies are detected if the deviation remains consistently elevated or increases over several control cycles.

[0048] In the event of persistent anomalies, the feedback coordination unit evaluates the spatial and temporal pattern of deviations along the closed-loop control paths. If a deviation occurs only in a single control path, while the other paths remain consistent, the anomaly is classified as a deterioration of the feedback sensor unit of that path. The feedback coordination unit then gradually reduces the weighting of the correction contribution of the affected control path. If the severity of the deviation exceeds a stored error threshold, the correction contribution of the affected path is completely suppressed.

[0049] If correlated deviations are detected in multiple closed-loop control systems based on different feedback sensors, the anomaly is classified as actuator-related degradation or disturbance caused by an external load. In such cases, the feedback coordination unit maintains the contribution of multiple feedback paths while simultaneously activating a fault compensation unit to adjust the actuator constraints applied to the composite actuator control signal. These adjustments include limiting the actuator size, reducing the actuator rate of change, or modifying the direction reversibility to ensure mechanical stability.

[0050] The fault compensation unit enforces a limited operating range, which is stored in permanent memory. This operating range defines safe actuation limits that prevent uncontrolled mechanical behavior while simultaneously ensuring the continued operation of the electronic actuator. As a result, the system achieves a gradual power degradation and maintains the actuator's functionality at reduced power, instead of abruptly shutting down.

[0051] The integrated control unit stores a reliability history for each control loop. This history is updated based on the deviation behavior, fault classification, and stabilization performance after a fault. The reliability history influences the control unit's future weighting decisions and allows the system to adapt over time to gradual changes in sensor behavior or actuator characteristics due to aging or environmental influences.

[0052] If the number of control loops deemed reliable falls below a predefined redundancy threshold, the embedded control unit switches to a predefined emergency operating state. In this state, the electronic actuator unit continues to operate with reduced output power and speed, while maintaining directional control. This ensures mechanical safety until maintenance or replacement.

[0053] Through the coordinated execution of redundant closed-loop control systems and adaptive feedback coordination logic, the system achieves a fault-tolerant embedded electronic actuation suitable for safety-critical machines and assemblies.

[0054] The system according to the present invention is implemented as a self-contained, embedded device designed for installation in a machine or structure requiring controlled mechanical actuation. The device comprises a housing that protects the internal components and provides the mechanical connection to the machine or structure. An electronic actuation unit is mounted within the housing and mechanically coupled to a load-bearing, motion-transmitting, or force-applying component of the machine or structure. The electronic actuation unit converts electrical control signals into mechanical outputs such as linear displacement or rotational movement.

[0055] An embedded control unit is integrated into the device and comprises one or more processors connected to permanent memory. This memory stores control parameters, setpoints for the actuators, tolerance data, reliability data, and predefined operating ranges. The processors execute real-time control routines in a deterministic control cycle synchronized with the dynamics of the electronic actuator.

[0056] Several feedback sensors are coupled to the embedded control unit. Each sensor detects a different actuator parameter related to the operation of the electronic actuator unit. The sensors are selected to monitor different physical ranges of the actuation, thereby reducing the probability of correlated failures. The measurement signals from the feedback sensors are acquired, digitized, and time-synchronized within each control cycle.

[0057] For each feedback sensor unit, the embedded control unit executes a corresponding closed-loop control process. Each control loop processes its measurement signal independently to generate an actuator state representation that reflects the current state of the electronic actuator unit as detected by that sensor. The actuator state representation is compared to a reference state, and a correction is generated to reduce the deviation.

[0058] The closed-loop control systems are parameterized independently and executed in parallel. The correction contributions generated by the closed-loop control systems are provided to a coordination unit executed by the processors. This coordination unit compares the actuator state representations across successive control cycles and calculates deviation characteristics that quantify the consistency of the control loops.

[0059] If the feedback paths exhibit consistent behavior, the feedback coordination unit combines the correction contributions into a composite actuator signal using reliability-based weighting. If deviations are detected, the feedback coordination unit evaluates temporal persistence and correlation patterns to distinguish between transient disturbances and persistent faults. Individual deviations are classified as errors of the feedback sensor unit, while correlated deviations across multiple feedback paths are classified as actuator degradation or external disturbance.

[0060] Based on the fault classification, the feedback coordination unit dynamically reduces or suppresses the contributions of affected feedback control paths. A fault adaptation unit adjusts the actuator limits, including output amplitude and speed, to ensure a limited operating range stored in memory. This allows the electronic actuator unit to continue operating safely and in a controlled manner even under adverse conditions.

[0061] The integrated control unit stores reliability histories for each control path, enabling adaptive weighting based on long-term performance. If the number of reliable control paths falls below a predefined redundancy threshold, the system switches to a restricted operating state that maintains directional control but limits the actuating force.

[0062] The electronic actuator unit, the integrated control unit, the multiple feedback sensors, and the feedback coordination unit are each integrated as physical hardware components into a physical actuator device. The electronic actuator unit comprises an electromechanical actuator with electromagnetic, piezoelectric, or electrodynamic drive elements, which is mechanically attached to a load-bearing or motion-transmitting structure and electrically connected to the control signal via conductive traces. The integrated control unit consists of one or more semiconductor processors mounted on a printed circuit board substrate and electrically coupled to a non-volatile memory of solid-state memory elements that stores control data and operating states. Each feedback sensor is a physical sensor with sensing elements, signal conditioning circuitry, and electrical connections.The sensors are mechanically mounted in close proximity to the electronic actuator unit to directly measure actuator-related parameters such as position, force, current, temperature, or vibration. The feedback coordination unit is implemented as dedicated hardware logic or processor-addressable circuitry within the integrated control unit. It operates via physical data buses and registers to compare actuator state representations and generate coordinated control signals. The connection of these components via physical conductors, traces, and mechanical couplings ensures that the system functions as a hardware-based, fault-tolerant actuating device and not as a purely software-based control system.

[0063] The drawing and the preceding description illustrate embodiments. Those skilled in the art will recognize that one or more of the described elements can be combined to form a single functional element. Alternatively, certain elements can be divided into several functional elements. Elements of one embodiment can be added to another. For example, the process flows described here can be modified and are not limited to the manner described herein. Furthermore, the actions of a flowchart need not be performed in the sequence shown; nor do all actions necessarily need to be carried out. Actions that do not depend on other actions can be performed in parallel with the other actions. The scope of protection of the embodiments is in no way limited by these specific examples. Numerous variations, whether explicitly stated in the description or not, such as...Differences in structure, dimensions, and materials are possible. The scope of protection of the embodiments is at least as comprehensive as described by the following claims.

[0064] The advantages, other benefits, and problem solutions have been described above with reference to specific embodiments. However, the advantages, benefits, problem solutions, and any components that can effect or enhance an advantage, benefit, or solution are not to be construed as critical, necessary, or essential features or components of the claims. REFERENCES 100 A system for fault-tolerant embedded electronic actuation, implemented as a device integrated into a machine or structural assembly. 102 Electronic Actuating Unit 104 Embedded Control Unit 106 Variety of Feedback Sensor Units 108 Embedded Control Unit 108a Multiple Closed Feedback Control Paths 110 Feedback Coordination Unit

Claims

[1] A fault-tolerant embedded electronic actuation system, implemented as a device integrated into a machine or structural assembly, comprising: an electronic actuation unit that is mechanically connected to a load-bearing or motion-transmitting element of the machine or structure and is configured to produce a controlled mechanical output in response to an electrical control signal; an embedded control unit arranged in the device with one or more processors that are operationally connected to a non-volatile memory; a multitude of feedback sensors that are operationally connected to the embedded control unit, each feedback sensor being physically arranged to detect a respective actuator parameter associated with the operation of the electronic actuation unit; wherein the embedded control unit is configured to execute multiple closed-loop feedback control paths simultaneously, each closed-loop feedback control path being assigned to a different feedback sensor unit and configured to generate an independent actuator state representation and corresponding correction control contribution; and A feedback coordination unit, executed by one or more processors and configured to compare the independent actuator state representations over successive control cycles to determine the relative consistency and reliability of the closed feedback control paths and to generate a composite actuation control signal by selectively combining the correction control contributions, so that controlled actuation is maintained despite a fault or deterioration affecting at least one feedback sensor unit or closed feedback control path. [2] System according to claim 1, wherein the plurality of feedback sensor units comprises sensor elements that respond to different physical properties of the electronic actuating unit, including at least one sensor element that responds to mechanical displacement or position, and at least one sensor element that responds to an electrical operating parameter of the electronic actuating unit. [3] System according to claim 1, wherein each closed feedback control path is executed using a separate set of control parameters stored in non-volatile memory, wherein the separate sets of control parameters are selected to produce different sensitivities to noise, load fluctuations and actuator response delay. [4] System according to claim 1, wherein the feedback coordination unit is configured to calculate deviation values ​​between the paths, which represent differences between the independent actuator state representations generated by the closed feedback control paths within a common control cycle. [5] System according to claim 4, wherein the feedback coordination unit is configured to identify a feedback sensor unit as defective when the path deviation values ​​associated with a corresponding closed feedback control path permanently exceed a stored deviation tolerance between the paths, while the other closed feedback control paths have mutually consistent actuator state representations. [6] System according to claim 4, wherein the feedback coordination unit is configured to detect actuator deterioration when correlated deviation values ​​between the paths are detected across a plurality of closed feedback control paths connected to different feedback sensor units. [7] System according to claim 1, wherein the feedback coordination unit is configured to assign a variable weight to each correction control contribution based on a certain reliability level of the corresponding closed feedback control path. [8] System according to claim 7, wherein the feedback coordination unit is further configured to progressively reduce the weighting of the contribution of a correction control associated with a closed feedback control path that exhibits unstable or inconsistent behavior over several control cycles. [9] System according to claim 1, wherein the embedded control unit further comprises a fault adaptation unit configured to modify at least one of the following actuator control constraints: maximum actuator size, rate of change of actuator or reversibility of actuator direction when a fault condition is detected. [10] System according to claim 9, wherein the error compensation unit is configured to penetrate a limited actuation range stored in non-volatile memory while simultaneously allowing continued actuation via remaining reliable closed feedback paths.

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