Abstarct: The aim of this research is to provide a new approach for designing a fault-tolerant controller system baxsed on predictive control for system in a small-scale helicopter. The fault-tolerant control system uses a Kalman filter-baxsed error estimation procedure to simultaneously estimate the system's states and parameters. The model-baxsed predictive-control architecture provides a suitable platform for implementing a fault-tolerant control system. And the reason is the discrete and model-baxsed nature of it, the discretion, enables modifying the model and constraints at any given step, and being model-baxsed makes it possible to submit necessary limitations to compensate for the disadvantage and make it a viable candidate for the system in question. The simulation results suggest that the method presented for controlling a small-scale static flying helicopter, is capable of successfully estimating the modes and parameters and has the ability to direct the system towards the reference and desirable output.