For nonlinear systems with actuator faults, an integrated robust active fault tolerant controller is designed based on the linear matrix inequality(LMI) techniques. Firstly, the robust sliding mode observer(SMO) with the adaptive algorithm is proposed, and the calculating method of the observer gain is transformed to a convex optimization under LMl constraints, thus the actuator faults can be reconstructed. Then the integrated robust active fault tolerant controller is proposed based on the state and fault estimates. Meanwhile, the calculating method of the controller gain is also given through LMI techniques. Finally, an example is provided to illustrate the effectiveness of the proposed method.