This paper presents an adaptive output feedback control scheme for systems with uncertain actuator failures whose values are variant. An effective controller structure is developed for adaptive actuator failure compensation using a new parametrization scheme. A new failure compensation property is derived for such a scheme which leads to a linear parametrization of the bilinear parameters caused by plant and failure uncertainties. Desired plant-model matching, stable adaptation and asymptotic

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... tput tracking properties are established for the closed-loop control system in the presence of variant actuator failures. Simulation results verified the desired adaptive actuator failure compensation performance.