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Direct adaptive state feedback control schemes are developed for linear time-invariant plants with actuator failures characterized by the patterns that some of the plant inputs are stuck at some fixed or varying values which cannot be influenced by control action. Conditions and controller structures for achieving state model matching in the presence of actuator failures are derived. Adaptive laws are designed for updating the controller parameters when both the plant parameters and actuator failure parameters are unknown. Closed-loop stability and asymptotic state tracking are ensured.
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Tao et al. (2000) studied this question.