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A new method of fault detection and fault control is proposed. It bases on the fuzzy logic systems. First, fuzzy logical systems are used to on-line approximate the unknown functions. Second, design a fuzzy observer and define the dead-zone to achieve fault diagnosis. The last, when the fault is detected, an adaptive fault-tolerance control architecture is designed. Meanwhile the system can achieve fault-tolerance control global asymptotic stability is established in the Lyapunov sense. It is proved this algorithm can guarantee the stability of the system and the tracking error convergence to a small neighbor of zero. The simulation results confirm the effectiveness of the proposed approach.