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This article is concerned with the integrated design of fault estimation (FE) and fault-tolerant control (FTC) for uncertain nonlinear systems suffering from actuator faults and external disturbance. The uncertain nonlinear systems are characterized as the interval type-2 (IT2) Takagi–Sugeno (T–S) fuzzy model, and IT2 membership functions are employed to effectively handle uncertainties. A fuzzy observer, utilizing only sampled-output measurements, is applied to simultaneously estimate actuator faults and system states. Based on the estimation, the fault-tolerant controller is designed to ensure the system stability under a predefined performance. The sampling behavior complicates the system dynamics and makes the integrated FTC design more challenging. To confront this issue, the discontinuous Lyapunov functional technique is exploited to enhance stability results by considering the sampling characteristic …