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In the last decade, fault tolerant controls (FTC) have enjoyed tremendous success to effectively accommodate defects in sensors, actuators, or plants. However, little of them considered what should be done once a control system performance is degraded during the operation. The aim of this paper is to maintain the performance of a control system at an acceptable level based on a pre-defined reference model. A maintenance approach is proposed and experimented in this paper. The method is to insert a compensator into the faulty control system and make the compensator and the faulty open loop system working together to track the pre-defined reference model. The proposed method is illustrated by reference to a mini process rig and shows the potential to industrial processes.