The aim of this paper is to propose an approach of FTC where diagnosis provides information about the plant to the filter; and vice-versa. Control laws are never reconfigured but the system must always be in safety situation thanks to the filter even in case of plant fault. Models of the plant devices behavior as well as the control rules can be described as Discrete Event Systems (DES), i.e., dynamical systems with discrete state spaces and event-driven transitions. The paper is organized as follows. In section 2, the fault tolerant control architecture proposed is presented with a diagnosis and a filtering control sub-sections. A benchmark is studied with results in section 3 before to conclude and propose some future works.