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Fault tolerant control is an important issue in practical systems and an effective approach to improve system reliability, whose task to be tackled is the design of a controller with suitable structure to guarantee stability and satisfactory performance, not only when all control components operational, but also in the case when actuators, sensors malfunction. In this paper, The problems of H∞ robust fault tolerant control are studied for a class of nonlinear systems with uncertainties and time-varying delays. The fuzzy hyperbolic model(FHM) is employed to represent a nonlinear system, for the actuator fault of systems with disturbance, the state feedback controller is designed. The sufficient conditions are obtained based on Lyapunov asymptotic stability theory and linear matrix inequality method, which are dependent on time delays and satisfies the H∞ performance index of the system. Simulation results demonstrate the effectiveness of the proposed approach.