Abstract: In order to avoid the rigorous conditions of reconfiguring system states directly， controller reconfiguration design schemes of dynamic stabilization and setpoint tracking were put forward when linear time invariant systems had actuator faults. Based on the reconfiguration module (RM) notion and faultmasking approach， the extended virtual actuator was derived， attaining a unified representation of static and dynamic reconfigured modules. The RM and nominal controller together formed the reconfigurable controller. The reconfiguration goals including closedloop stability and tracking performance were both achieved. Simulation results showed that closedloop stability can be insured in the presence of actuator faults and tracking reconfiguration goal is also restored.

Key words: control law reconfiguration, faultmasking, reconfiguration module, tracking, reconfiguring directly