<p>Fault-tolerant control is an efficient way to help prevent accidents in critical engineering systems. Although some fault-tolerant control systems remain stable after a fault occurs, more efficient solutions to slow reconfiguration transients or chattering problems are being researched. To deal with such problems, we propose a fault-tolerant control system mixing robust and adaptive controls, which are combined within one control scheme and applied here in a real pilot plant of two inputs and two outputs with piecewise continuous dynamic and actuator faults — abrupt loss of effectiveness. Compared with a traditional fault-tolerant control that uses adaptiveness without a special initial condition, the results obtained with the proposed scheme were preferable: the reconfiguration transient was shorter, without causing chattering problems in the control signal. These observed improvements are due to the special matrix that was used as an initial condition in the adaptive law obtained via Lyapunov’s method.</p>