In this paper, the problem of fault-tolerant control design for nonlinear system based on adaptive robust observer is presented. The aim of the research is to design a fault-tolerant controller to make the system stable after fault occurs based on fault information that is obtained from the design adaptive robust observer. The constitution of adaptive law of adaptive robust observer is given and the sufficient condition for existence of the designed fault-tolerant controller is derived in the form of LMI. At last, the simulation result is shown to demonstrate the feasibility and effectiveness of the proposed approach.