Abstract: The robust adaptive inverse optimal fault-tolerant control problem of satellite attitude control system was studied.Considering the faults of actuators and sensors and uncertainty in fault detection and diagnosis(FDD),the adaptive inverse optimal fault-tolerant controller was designed by using the uncertainty parameter as the on-line estimated adaptive parameter.The design of the adaptive inverse optimal fault-tolerant controller was based on the inverse optimal principle to solve the adaptive control Lyapunov function(ACLF) of auxiliary system.The robustness of system under fault conditions was proved.The simulations validate that this solution is effective and more suitable for on-board real-time computation.