In this work, a fault tolerant control scheme is proposed for a class of nonlinear system with actuator faults. In this fault tolerant control strategy, an estimator is designed to estimate both the system states and the fault signal simultaneously. Based on these estimations, the control law is constructed to achieve the fault tolerant control for the nonlinear system considered. It is shown that the estimation error and the system state can be guaranteed to be bounded. The obtained theoretic results have been verified through the simulation examples on the three‐tank system.

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