For uncertain systems, their fault-tolerant output tracking control problem is investigated in this chapter. In the presence of system fault, unknown higher input power, and external disturbance, by using adaptive control method with robust control technique, a backstepping control scheme is constructed such that system output converges asymptotically to the desired signal. By using Lyapunov theory, from theoretical analysis, it is proven that the output tracking error is asymptotically stable. In contrary to the works reported in literature, the control scheme in this chapter not only relaxes some strict assumptions but also makes up for some shortcomings in literature to improve control performance. Finally, the effectiveness and viability of the proposed control technique is verified by some simulation results of numerical simulations.