In this chapter the real time implementation of the sensor fault reconstruction schemes (for FDI and FTC) from the previous chapter, on a laboratory crane and a small DC-motor rig, will be discussed. These rigs provide cheap, safe and practical demonstrators for the ideas presented in the previous chapters. The data collection and (subsequent) controller implementation has been achieved using Matlab ® and dSPACE®. Estimates of the sensor faults, obtained from online sliding mode FDI schemes have been used to correct the measured outputs from the sensors. The ‘virtual sensors’ have been used in the control algorithm to form the output tracking error signal which is processed to generate the fault tolerant control signal.