This paper deals with the design of active Fault Tolerant Control (FTC) schemes for multivariable LTI systems. The key feature of the proposed strategy is that it integrates explicitly an analytical redundancy-based FDI (Fault Detection and Isolation) module. The design method uses some well-known and robust numerical resolution tools, commonly used within robust control community (LMI, ...). The design of FTC loop is done independently of nominal controller in place. This means that the proposed active FTC system works in such a way that when a fault is detected by the FDI unit, the control law is, in real time, reconfigured by adding a loop to compensate the faults. This is an important aspect when considering the testability and certificability of the software implementation. The results are illustrated on the HiMAT aircraft benchmark