In this project, a fault-tolerant attitude control system is developed for thruster-driven satellites. The proposed method has the advantage over current state-of-the-art approaches in that it does not require a fault detection and isolation system. Generalized moments are generated by a robust controller that is designed using mixed sensitivity H_∞ and μ-synthesis by DK-iteration. Moreover, a pulse-width modulation technique with quadratic programming optimization is tuned to map the controller outputs to thruster on-off commands as efficiently as possible. The controller is designed to tolerate up to ±30% perturbations in inertia properties and thrust degradations up to 90% of the nominal...