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=== Fault hiding ===
[[Image:FaultHiding with Goals.png|frame|Fault hiding principle. A reconfiguration block is placed between faulty plant and nominal controller. The
This paradigm aims at keeping the nominal controller in the loop. To this end, a reconfiguration block can be placed between the faulty plant and the nominal controller. Together with the faulty plant, it forms the reconfigured plant. The reconfiguration block has to fulfill the requirement that the behaviour of the reconfigured plant matches the behaviour of the nominal, that is fault-free plant.<ref>{{Harv|Steffen|2005}}</ref>
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