Reconfigurable Controller Design For Actuator Faults In A Four-Tank   System Benchmark
  The purpose of this work is to design a state feedback controller using Parametric Eigenstructure Assignment (PAE) technique that has the capacity to be reconfigured in the case that partial actuator faults occur. The proposed controller is capable of compensating the gain losses in actuators and maintaining the control performance in faulty situations. Simulations show the performance enhancement in comparison to the non-reconfigurable controller through Integral Absolute Error (IAE) index for different fault scenarios. 
Pedram Hajiani, Javad Poshtan
cs.SY