what you are looking for is called redundant PLC setup with 'bumpless transfer'.
Iv'e also see the AB -RM module do it, and its nice (so long as the setup/config have been done, and ALL the card firmwares are the exact same...it makes flash-upgrading the firmware a big pain if you have to do that.
The AB module even handles ethernet comms - each redundant rack has its own ENBT card. You give the primary rack the 'normal' ethernet address, and the secondary rack gets the primary rack address+1. If you have a transfer of control to the secondary rack, the -RM card *changes the IP address* of the secondary ENBT card down one number to the same address of the primary rack - makes redundant processors a lot easier to manage
...(this also lets you make changes to each processor seperately...if you ever had to (but this is not advised- the -RM module automatically scans the primary controller for changes and updates the secondary so you only need to ever work with the primary.
I have no idea how other manuf's handle this (good question to ask though)
I'd expect that all of the larger PLC manufactuers have a similar offering (Siemens, Modicon, GE...). Large DCS manufacturers (ABB, Emerson, Honeywell(?)) routinely ship redundant/bumpless by default, but DCS prices get up there pretty quick (how much I/O do you have?).
You should look at the company who you have the most experience with first.
-John