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The main difference between the two tools is that raidtools requires a configuration file, /etc/raidtab, and mdadm does not. Althought there is a configuration file with mdadm to help you maintain your RAID array's, /etc/mdadm.conf, it is not neccessary for mdadm to operate.
Another difference is that raidtools is a set of tools (raidhotadd, raidhotremove, raidsetfaulty etc) to create and maintain your RAID where as mdadm is a single tool with multiple switches. Examples of each can be found below:
raidtools
mkraid /dev/md0
raidstart -a
raidhotadd <raid-device> <disk-partition>
For more information on how to implement RAID with raidtools:
mdadm
mdadm -C <dev> <level> <num devices> <devices>
mdadm -A -R /dev/md0
mdadm -a <raid-device> <device-partition>
For more information on how to implement RAID with mdadm: