  An Adaptive Fault-tolerant Controller procedure for a class of the affine
nonlinear system is developed in this paper. This methodology hides both the
faults and external disturbances. Compare to the procedure that require
separate fault detection, isolation, and identification units, the suggested
method concentrates on fault hiding to reduce the units. The main merits of the
proposed method are 1) guaranteed stability of the closed loop system, 2)
convergence of the states of nominal and faulty systems to zero, and 3)
convergence of the tracking error to the origin. The robustness of presented
method is assured against external disturbances. Simulation result illustrate
the effectiveness of proposed fault tolerant control.
