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Then the fault type can be determined by analyzing indicators related to the deduction. Fault-tolerant control is addressed by dealing with nonlinear programming (NLP) problem, where minimization of allocation errors and control efforts are set as the optimization objectives, and rudder failure, saturation and actuators limitations are considered as constraints. The fixed-point iteration method is utilized to solve this optimization problem. Many field tests have been conducted in towing tank. The experimental results demonstrate that t
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