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This paper investigates the problem of fault tolerant control (FTC) design for nonlinear Takagi-Sugeno (T-S) models with measurable premise variables. The idea is to synthesize a fault tolerant controller ensuring state trajectory tracking. Based on Lyapunov theory, new less conservative approaches are proposed in term of Linear Matrix Inequality (LMI). A PI observer is needed to estimate simultaneously the faults and the faulty system states in order to reconfigure the FTC law. A numerical example is considered to compare the conservatism of the proposed FTC approaches with the existing one and to illustrate the effectiveness of the FTC technique vs. the classical controller design methodology.