The paper deals with the problem of the H ∞ control design of continuous-time linear systems by bi-proper dynamic output controllers in the active fault tolerant structure with the virtual actuators. The design procedure is based on the solution of a set of linear matrix inequalities and one matrix equality and ensures the closed-loop stability using Lyapunov approach and the H ∞ performance to guarantee the best robustness to a time-delay in fault detection and isolation. Numerical example is given to illustrate the design procedure and the relevance of the method as well as to validate the performances of the proposed approach.

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