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The overall theme of this book deals with Fault Tolerant Control (FTC) applied to Hybrid Dynamical Systems (HDS). HDS encompass continuous time and discrete-time behaviors, eventually their mutual interaction.Three main contributions are discussed in this book. To begin with, a hybrid observer with variable structures is proposed at first. It has been synthesized mainly for mode identification and Fault Detection and Isolation (FDI).Our second contribution focuses on building a new FTC architecture for switching systems. Two tracking state feedback FTC schemes, based on reconfiguration of robust state feedback, are proposed. Robustness to disturbances, sensitivity to faults, system stability along trajectories of HDS and trajectory tracking has been involved in computing the controller gain matrices. The design of a hybrid sliding mode observer, in the presence of disturbances, for mode identification and actuator fault reconstruction is the subject of our third contribution. Foreach individual operating mode constituting the whole system, only one observer is doomed to accomplish the two aforementioned tasks.