Model-based control and monitoring such as feed-forward/feedback control, fault detection and isolation (FDI), and fault-tolerant control (FTC) techniques that utilize Lyapunov-based control laws are implemented on a high recovery reverse osmosis desalination plant model. A detailed mathematical model of a high recovery reverse osmosis plant is developed. This model incorporates the large spatial variations of concentration and flow rate that occur in membrane units during high recovery operation. Bounded nonlinear feedback and feed-forward controllers are developed and applied to this system. The application of these controllers with FDI and FTC is demonstrated in the context of a high recovery reverse osmosis process simulation. The first set of simulations demonstrates the ability to compensate for the effects of large time-varying disturbances in the feed concentration on specific process outputs with and without feed-forward control. The second set of simulations demonstrates the ability of FDI and FTC techniques to recover desired plant operation subject to actuator failures.