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For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.<\/jats:p>","DOI":"10.1177\/0142331220909996","type":"journal-article","created":{"date-parts":[[2020,3,23]],"date-time":"2020-03-23T07:58:50Z","timestamp":1584950330000},"page":"2308-2323","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5374-3786","authenticated-orcid":false,"given":"Salama","family":"Makni","sequence":"first","affiliation":[{"name":"Department of Electrical and Automatic Engineering, University of Gabes, Tunisia"},{"name":"Lab-STA, National School of Engineering of Sfax, LR11ES50, University of Sfax, 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