Combining the designing techniques of robust sliding mode observer and adaptive sliding mode controller together, an active fault tolerance algorithm is proposed for the nonlinear system with actuator and sensor fault simultaneously. Firstly, an extended state is introduced, and the original system is transformed into descriptor system, meanwhile, the auxiliary matrix through generalized inverse under constraints , the coefficient matrix through linear matrix inequality and adaptive law are provided to design the robust descriptor sliding mode observer, then a robust sliding mode differentiator is proposed for estimating the output vector differentiator, and utilizing the state estimates of descriptor robust sliding mode observer, the actuator and sensor fault reconstructed results are obtained simultaneously. Thirdly, the adaptive sliding tracking fault tolerance controller is proposed by combining the results of fault reconstruction and state estimation. Finally, the simulation of the flight simulator servo system is proposed to validate the effectiveness of the active fault tolerant controller.