In this paper a continuous fault tolerant control allocation is proposed. This approach is based on a uniform High-Order Sliding-Mode Observer where only measurable outputs are used. The fault tolerant control scheme is developed using, for the first time, a continuous integral sliding-mode and a fixed control allocation technique which provides an approximate estimation of matched faults. The conditions for stability are found by ensuring the stability of the closed loop system in the presence of possible faults in the components, and actuator faults or failures. The effectiveness of the proposed approach is verified through simulation of a linear version of the benchmark B747-100/200 civil aircraft model. (C) 2014 Elsevier Ltd. All rights reserved.