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This paper is concerned with the guaranteed cost fault-tolerant control problem for a class of uncertain linear systems with norm bounded uncertainty parameters and a given quadratic cost function, especially, a more general and practical actuator fault model is adopted here. Based on linear matrix inequality approach, a sufficient condition for the existence of guaranteed cost fault-tolerant controller is derived. The guaranteed cost fault-tolerant controller which presented for the case of actuator failure not only retains systems quadratic stable, but also an optimal cost can be derived. A numerical example is provided to illustrate the effectiveness of the proposed design method.