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This paper investigates the position and velocity tracking control of a class of high-speed trains (HST) with unknown actuator failures (AF) and control input saturation (CIS). Firstly, a nonlinear dynamic model for HST at normal operating status is built. The structure of traction system in HST is analyzed and the corresponding model for HST with unknown AF is presented as well. The type of AF under consideration is that some of the plant inputs are influenced by hopping function. An adaptivedoi:10.1155/2014/481315 fatcat:kmdwvhegi5hhbdaamoy27kjcc4