High maintenance costs and unwanted disruptions in industrial processes are caused by machine fault problems. To overcome this problem, an appropriate fault tolerant control (FTC) technique has been presented; while to avoid deterioration of the quality of production or sudden stop, prognosis of parameters changes (PPC) techniques have been studied and developed. This PhD work has therefore been motivated by the need to develop fault tolerant control techniques and enhance prognosis of parameter changes techniques. To get interesting results from linear and nonlinear model-based control, the studies complied with different faults and noises such as additive fault, white noise and non-Gaussian noise. Moreover, a new nonlinear observer has been designed to diagnose the fault and eliminate the Coriolis and centrifugal torque effect of robotic systems. The FTC technique includes fault detection, diagnoses, states estimations and reconfiguration of controller techniques; whereas the PPC techniques consist of fault detection, diagnosis, parameter estimation, filters for parameter changes and analysis techniques of parameter deviation from desirable values. In this work, a design of two linear and nonlinear observers has been achieved to diagnose the fault and estimate the states of the plant. Furthermore, model-based controllers have been introduced as part of the FTC technique. Thus, a novel signal reference output regulation controller and controllers via performance have been introduced. Indeed, the reconfiguration of controllers is an interesting part of fault tolerant control, and is a major area of focus in this thesis. At a glance, this thesis introduces different reconfiguration techniques. One approach has been designed to update the control laws while a second approach has been implemented to update the adaptive controller. An intelligent algorithm without observer has been developed based on the outputs error and other errors like Cartesian errors of position of robot. However, the intelligent reconfiguration has been implemented without observers because some systems as robots may need more time in the fault diagnosis stage. Two proposed nonlinear observers and a prognosis algorithm have been designed based on filter type FSISF, which is based on a hybrid Sequential Important Sampling and Fuzzy system technique. They have been designed to be sensitive and present a novel approach of predication in the presence of faults and noise. The two new nonlinear observers; nonlinear observer based on filtered output NOFO and nonlinear observer based on filtered dynamic estimated states NOFS; have been based on FSISF, whereas the observers have been introduced via the filtered output and estimated dynamic states respectively. In this thesis, Chi distribution and Gaussian distribution for the SIS technique and their parameters (variance and mean) can be tuned and varied. Additionally, the Fuzzy part of FSISF uses a centre of gravity type of Fuzzy rule. The Fuzzy set of the Fuzzy part has been defined based on the type of filter. The Fuzzy set of filters for the observers implies the output of the Fuzzy at a previous time sample, the diagnosed fault and the residual of the observer and plant. Thus, the Fuzzy set of the prognosis filter consists of the diagnosed fault, a parameter change and a parameter change of the previous batch. However, the prognosis technique consists of steps: it first identifies the immeasurable parameters using the online recursive least square technique and then filters by a set of prognosis filter based on hybrid Fuzzy and Important Sampling algorithm PSFISF after an appropriate threshold. Moreover, to get an idea about the effect of data history, the mean and maximum values at same sample through size of batches processes. The data have been calculated and saved in a memory. Furthermore, two approaches have then been used to analyse the data: Kernel Density Function and Minimum Entropy of the parameter changes. Indeed, the highest changes have been clearly pointed at the highest fault using the proposed two approaches. Finally, all proposed algorithms have been tested and simulated where interesting results have been achieved.