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In this paper we develop some fault diagnosis and reconfigurable control design techniques with possibly actuator failures for a special class of dynamic systems in which the full system states are reliably measurable and available for feedback and diagnosis. This class of dynamical systems is quite common in modern flight control systems. We have developed an analytic method for the detection and isolation of the actuator faults. We then further develop a robust reconfigurable state feedback controller design technique that guarantees stability and closed-loop performance under the actuator faults. A Boeing 747 model is used to demonstrate the design techniques.