Remark 7: The values of antecedent-

Remark 7: The values of antecedent-vertex of FLS used in this simulation are selected based on experiments and human knowledge about the system. To analyze the generality of the proposed method, different pairs of antecedent-vertex have been checked in this simulation. The experimental results shown that the tracking accuracies for different pairs of antecedent-vertex were not much different. This was because the FLS approximation errors would have been eventually compensated by the disturbance observer, as discussed in section VI-B. In the literature, some papers have discussed the use of tensor product (TP) to obtain the generality of the use of FLS, for example [65]. Employing the TP to get generality of the use of FLS will be investigated in our future works.Remark 8: In this simulation study, to reduce the length of the paper, we consider the effects of abrupt faults only since the effects of abrupt faults is much heavier than the incipient faults. Since the proposed method tackles the effects of the abrupt faults well, it is believed to tackle the incipient faults very well.Remark 9: In this paper, the effects of faults are treated as the effects of an additional disturbance, and the robust fault tolerant control is developed to tackle the effects of the additional disturbance. Therefore, the proposed method can be considered as a strong robustness controller, which can be applied for broaden practical applications to robust against the effects of uncertainties and disturbances.