STEFFEN, T., 2012. Discussion on: "Markov Actuator Assignment for Networked Control Systems". European Journal of Control, 18 (4), pp. 331 - 332.
The paper by Ge Guo and Zibao Lu formulates and solves the robust stochastic control problem for a certain class of cooperating linear actuators. Although the paper does not mention faults, the activation states of the actuators can be interpreted as faults. The system under consideration contains a Markov model for the faults, a fault independent process model with (bounded variable) time delay and modelling errors, and a very simple fault dependent actuator model (individual actuators are assumed to be either active or not).