Fault tolerant control using a redundant adaptive controller

A method for designing a fault-tolerant control system with an additive redundant controller is presented. In the case when the main controller is a pole assignment controller and the redundant controller is an MRAC whose reference model is the closed-loop combination of the plant and the main controller, it is shown that the overall control system ensures the performance of set-point tracking even under failure in one of the two controllers.<<ETX>>