The invention is a controller which provides continuous regulation of the output of a process or a plant as well as performing discrete control functions. The REFFTAC includes an adaptive direct digital controller (ADDC) as a primary expert controller and a fuzzy expert controller (FECD) as a backup controller. In case of an error or failure of the primary ADDC the control function is transferred via an interface system (INF) to the FEC, thus preventing any fault in the REFFTAC mission. The INF system is a simple fuzzy controller which includes means to verify the control action and a timer to assure proper control action. It also includes a simulator that performs a self diagnosis on both the ADDC and the FEC to assure fault tolerance. Also, the REFFTAC comprises learning expert units which stores correct control actions for direct application to save time and to provide a reference for the INF system.
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