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Predictive control is a promising strategy for the mitigation of faults that result in more stringent operational constraints on the inputs and outputs of a system. In this context, the present work proposes a predictive control approach for accommodation of faults associated with the loss of actuator effectiveness. More specifically, it is assumed that the actuator is subject to degradation effects with progress rate proportional to the control effort. The loss of effectiveness occurs when the degradation reaches an intermediate threshold between the nominal operating condition and the total failure of the actuator. The resulting predictive control law involves the solution of a mixed-integer programming problem to be solved at each sampling instant. By imposing a suitable terminal constraint, convergence to equilibrium and recursive feasibility of the input and state constraints are ensured, provided that the optimization problem is initially feasible. Simulation results are presented for illustration.

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