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An Adaptive Fault-tolerant Controller procedure for a class of the affinenonlinear system is developed in this paper. This methodology hides both thefaults and external disturbances. Compare to the procedure that requireseparate fault detection, isolation, and identification units, the suggestedmethod concentrates on fault hiding to reduce the units. The main merits of theproposed method are 1) guaranteed stability of the closed loop system, 2)convergence of the states of nominal and faulty systems to zero, and 3)convergence of the tracking error to the origin. The robustness of presentedmethod is assured against external disturbances. Simulation result illustratethe effectiveness of proposed fault tolerant control.

Fault tolerant controller design for a class of affine nonlinear systems based on adaptive virtual actuator