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In this paper, we propose an approach for failure prognosis. The approach deals with a closed-loop control system in which the actuator stochastically degrades through time. The degradation of a system disturbs and affects its characteristic parameters. This is reflected by a change in one or more of them. The latter may remain partially or totally hidden given that the type of control. The aim of this work was to estimate online the duration before the system performance requirement is nofatcat:f552ixxcpjhdncd6yprgb54nai