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The problems of H∞ robust fault tolerant control are studied for a class of nonlinear systems with uncertainties and time-varying delays. The T-S fuzzy model is employed to represent a nonlinear system, for the actuator fault of systems with disturbance, the actuator fault model is established, and the state feedback controller is designed. The sufficient conditions are given based on Lyapunov stability theory and linear matrix inequality method, which are dependent on time delays and satisfies the H∞ performance index of systems, and which can guarantee robust stability of system with actuator fault and disturbance. Simulation results demonstrate the effectiveness of the proposed approach.