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In this study, the issue of simultaneous fault detection and control (SFDC) for a class of switched linear systems with input and state delays is being addressed. A detector/controller unit (dynamic observer/observer-based controller) is suggested for a residual generation that simultaneously takes into account the control and fault detection objectives using specific performance indices. It is assumed that the delay will fluctuate within a range with a lower bound that is not zero. Based on a Lyapunov–Krasovskii functional (LKF), and thanks to the free-weighting matrix and projection lemma, a new sufficient condition for developing a new method is put forth in terms of a set of linear matrix inequalities (LMIs). To illustrate how well the suggested results work, the proposed method is applied to a vehicle roll dynamic. [ABSTRACT FROM AUTHOR]