Fault-Tolerant Control of Nonlinear Processes: Performance-Based Reconfiguration and Robustness**Financial support by NSF CTS-0529295, is gratefully acknowledged.

This work considers the problem of control system/actuator failures in nonlinear processes subject to input constraints and presents two approaches for fault-tolerant control that focus on incorporating performance and robustness considerations, respectively. In both approaches, first a family of candidate control configurations, characterized by different manipulated inputs, is identified for the process under consideration. Performance …