This research addresses the important but as yet unresolved problem of providing a design methodology for sensor configuration for control and fault tolerance based on specific system reliability requirements. The primary focus is that of optimised sensor selection for efficient robustness properties of the system, assuming a consistent controller design, with relation to faults prior to system reconfiguration (i.e. a form of passive fault tolerance attempting to reduce complexity at the basic level). The proposed framework will be evaluated within a reconfigurable scheme for further system robustification. In particular the proposed research concentrates upon practical engineering applications that are dynamically complex, electro-mechanical in nature typified by the kinds of systems in aerospace, automotive and railway. Demonstration of the developed methodologies is envisaged via an experimental test rig.