Redundant control system for an actuator and method for redundant control thereof

A method for redundant control of an actuator in a control system, in which a first control computer is connected via a first bus to a first interface module of a first peripheral station containing at least one periphery module, a second redundant control computer is connected via a second bus to a second interface module of a second peripheral station containing at least one periphery module, and the actuator is connected to mutually decoupled signal outputs of two periphery modules, each forming an output module, of the first and second peripheral stations, the method comprising:

• transmitting by the first and second interface modules output values for the actuator received from a respective control computer via the first bus or second bus to the output module for output to the actuator and, upon detection of a fault on the first bus or second bus, transmitting a command to the output module and all other output modules of the peripheral station to output substitute values to their signal outputs;
• and
• exchanging between the output modules with signal outputs to which the actuator is connected information about receipt of a command for output of a substitute value via a communication link and implementing this command only if another output module concerned has also received said a command.