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The proposed FTC scheme consists of feedforward controller that achieve the objective of fault-tolerant and feedback optimal controller, which can guarantee the performance index function is minimized. Since fault estimation and control law parameters are updated online, the control system has an adaptive failure compensation capability so as to reconfigure the control law in real time in response to failure indications. Based on Lyapunov stability theory, the whole closed-loop system is guaranteed to be ultimately uniformly bounded. 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