This chapter, for a class of uncertain systems, investigates fault-tolerant tracking control problem, where the systems are subject to unknown system input powers and system fault. Based on Lyapunov theory, an adaptive robust fault-tolerant control strategy is constructed to ensure that system output follows asymptotically a desired trajectory and the tracking error between the desired trajectory and system output converges to a small adjustable neighborhood of the origin. Some errors occurring in the results in literature are corrected in the control strategy. Furthermore, compared to the works reported in literature, some assumptions are relaxed. Simulation results demonstrate the reliability of the techniques in this chapter.