**6. Conclusion**

In this chapter, a fault-tolerant nonlinear control law scheme is proposed to reform the states of the lateral dynamics system of the automotive vehicle when it becomes faulty at the actuator side. The nonlinear model of the lateral dynamics of the automotive vehicle is first represented by a T-S fuzzy models, and then the fault-tolerant control design based on the T-S fuzzy observers is presented. The mentioned strategy is based on the use of the T-S reference models and the information provided by the T-S fuzzy observers. This control law is developed to reduce the deviation of the faulty system from the reference; it uses the steering angle, the estimation error, and the tracking error. The stability of the whole system is investigated in one step with the Lyapunov theory and by solving the LMIs constraints. The simulations of the automotive vehicle strongly demonstrate that the engineered FTC is very successful and can be adapted to the specific driving situations. These results will be applied to the CarSim software in future work.
