  In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System)
Based on H-infinity is presented. In particular, the introductory part of the
paper presents a Fault-Tolerant Control (FTC), the first part of this paper
presents a description of the mathematical model of TRMS, and the last part of
the paper presented and a polytypic Unknown Input Observer (UIO) is synthesized
using equalities and LMIs. This UIO is used to observe the faults and then
compensate them, in this part the shown how to design a fault-tolerant control
strategy for this particular class of non-linear systems.
