In this paper, we propose a model-based FDI(fault detetion and isolation) algorithm to detect and isolate fault in a linear system. The proposed algorithm is gased on an HFC(hydrid fault classifier) which consists of an FCART2(fault classifier by ART2 neural network) and an FCFM(fault classifier by fault models) which operate in parallel to isolate faults. The proposed algorithm is functionally composed of three main parts-parameter estimation, fault detection, and isolation. When a change in the system occurs, the estimated parameters go through a transition zone in which errors between the system output and the stimated output and the estimated output cross a predetermined thrseshold, and in this zone the estimated parameters are tranferred to the FCART2 for fault isolation. On the other hand, once a fault in the system is detected, the FCFM statistically isolates the fault by using the error between ach fault model out put and the system output. From the computer simulation resutls, it is verified that the proposed model-based FDI algorithm can be performed successfully to detect and isolate faults in a position control system of a DC motor.