  In this paper we investigate the design of an active fault tolerant control
system applicable to autonomous flight. The system comprises a nonlinear model
predictive based controller integrated with an unscented Kalman filter for
fault detection and identification. We apply the fault tolerant control system
design to a generic aircraft model, and simulate a failed engine scenario. The
results show that the system correctly identifies the fault within seconds of
occurrence and updates the nonlinear model predictive controller which is then
able to reallocate control authority to the healthy actuators based upon up to
date fault information.
