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The reconfiguration criterion for tolerating actuator fault is proposed. The proposed reconfiguration criterion analyzes the relationship between normal actuators and the system states that are directly affected by faulty actuators. So the proposed criterion provides the possibilities of fault-tolerance. Moreover, it also provides the required number of redundant normal actuators.doi:10.1155/2015/218384 fatcat:rkrl2ha6sjgsjdaposru3oafku