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Guaranteeing prescribed performance is critical to maintaining system efficiency and reliability. The state-of-the-art approaches achieve different performance specifications with different control structures and settings. In this paper, we propose a novel control methodology to uniformly address the prescribed performance problem for uncertain multiple-input multiple-output (MIMO) nonlinear systems in the presence of actuator faults. By constructing a non-monotonic function transformation and an asymmetric barrier function, we recast the underlying problem into one that only needs for simple selection of certain design parameters. With such a treatment, different performance behaviors can be achieved under a single (unified) control framework without the requirement for alternating the control structure, making the design more user-friendly and implementation less demanding. Furthermore, by embedding the …