In this paper, a new design scheme for restructurable fault-tolerant control systems (RFTCS) is proposed. Restructurable controllers are designed on-line based on the information about system states and parameters, post-fault system model, decisions for diagnosis and activation of restructurable controllers from a fault detection and diagnosis (FDD) scheme. The feedback part of the restructurable controller is designed automatically using linear quadratic regulator (LQR) technique, while the feedforward part is designed based on either an explicit model-following structure or a command-tracking scheme. Several design strategies have been proposed and evaluated to demonstrate the variable-structure characteristics of the proposed RFTCS. The proposed scheme is evaluated using an aircraft example.