In this paper, an active fault tolerant control strategy is developed for a class
of linear state-delayed systems with unknown actuator faults and input constraints. The
design is a combination between a direct adaptive control algorithm and multiple model
switching, and the μ-modification is introduced in the model reference control architecture.
The main features of the proposed control strategy are the reliability and simplicity in
tracking against actuator faults. By Lyapunov-Krasovskii theory, the stability of overall
system is guaranteed and the boundness of all signals is ensured. Numerical simulation
results demonstrate the effectiveness of the proposed fault-tolerant control scheme.