Partial and total actuator faults accommodation for input-affine nonlinear process plants

► A fault-tolerant controller is proposed for input-affine nonlinear system. ► We consider both partial and total actuator failures. ► In general, variable coefficients in the adaptive rules lead to good responses. ► Model reference adaptive system has good characteristics for compensating actuator fault. ► The proposed scheme does not require any fault detection and diagnosis unit.