A system to control a dynamic system, comprising actuators, sensors, a control module and a plurality of observers to monitor the state of the actuators is disclosed. Certain embodiments of the invention comprise a global failure detection and identification module, a baseline controller, and a retrofit controller. Methods to control the dynamic system are disclosed. Some of the methods utilize a second-order mathematical model of the dynamics of the actuators. In some embodiments, this mathematical model is parameterized by a loss-of-effectiveness (LOE) parameter and a lock-in-place (LIP) parameter. The method may further comprise the step of detecting disturbance conditions and structural damage conditions.