A control system capable of tolerating system malfunctions while maintaining an acceptable level of performance is referred as fault tolerant control system. The constraints on the amplitude of input control signals limit the domain of attraction even for linear models. Ignoring this fact may lead to an unsatisfactory performance and even closed loop instability. Designing the controller such that the domain of attraction is maximized has been an attractive topic for researchers. On the other hand, persistent disturbances always play an essential role in the real word systems. Designing the controller in a way such that the effect of such disturbances is attenuated is another challenging...