This article focuses on the problem of given-performance control for uncertain H-type gantry stage (HGS) system with actuator failure. Combined with an innovative time-varying scaling function, a new adaptive PID-like fault-tolerant control scheme is developed. It not only maintains the simple structure of traditional PID control approach but also eliminates the time consuming and inefficient parameter adjustment process caused by self-adjusting gains. Furthermore, the control scheme has fault-tolerant control ability, even if there are unknown and time-varying actuator faults. The control law drives the tracking error into an adjustable range with an adjustable rate in a given time. Rigorous theoretical analysis and experimental results demonstrate the effectiveness and advantages of the control design.