This paper presents a fault-tolerant control scheme for a class of nonlinear systems. A robust nominal controller is designed to ensure system stability and tracking performance before a fault occurs. A monitoring module is used for on-line fault detection and isolation. The fault detection scheme is designed based on some stability criterion of the controlled plant, hence guaranteeing boundedness of system states before fault detection in the presence of a fault. Then using the fault information provided by the monitoring module, the controller is reconfigured after fault detection and isolation, respectively, to compensate the effects of the fault.