说明：  In this work we introduce a recent implicit fault tolerant control technique for the permanent magnet synchronous machine. After a state of the art in the FTC domain, we elaborate the complete model of the machine witch allow to study its behavior in different cases. The unknown torque load and parametric variations are compensated by the robust backstepping control low but in order to detect and compensate faults, we use this technique witch we study in detail. We also propose a new method for generating compensation terms in the control low.