Can I modify cluster configuration on the fly

If we have say 3 iAS instances in a cluster.
Is it in any way possible to remove one of the iAS instances from the cluster while the cluster is still online. My understanding is that any change to cluster requires restarting all instances in cluster. Is that correct?

The answer to your question depends on how you set up your cluster in the first place. If all your servers are "sync servers" then the anser is no. A restart of the cluster is required if you want to change or remove a node from the cluster. However, if the machine you wanted to remove was a "sync local", then you would be able to remove it from the cluster without restart.
(It probably won't be a sync local if you used iASAT to create your cluster)

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