The paper presents a new actuator fault estimation scheme based on the augmented error method that estimates the actuator effectiveness on-line. The proposed scheme is applied to a fault-tolerant flight control system design for an F4-E fighter aircraft. The output of a nominal $H∞$ controller is continuously reconfigured to compensate for any loss of actuator effectiveness. Simulation results demonstrate good fault estimation and flying qualities obtained using the proposed scheme under the actuator fault conditions.

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