  This paper develops a new active fault tolerant control system based on the
concept of analytical redundancy. The novel design consists of an observation
filter based fault detection and identification system integrated with a
nonlinear model predictive controller. A number of observation filters were
designed, integrated with the nonlinear controller and tested before reaching
the final design which comprises an unscented Kalman filter for fault detection
and identification together with a nonlinear model predictive controller to
form an active fault tolerant control system design.
