Abstract: This paper considers the problem of missiles attacking maneuvering targets, whose movement information as velocity, acceleration and others are unknown, and moreover, effectiveness loss fault occurs in the missile elevator. An integrated guidance and fault-tolerant control method for a missile is proposed to realize the precise strike to the maneuvering targets at the designated attacking angle. A novel adaptive interval observer is designed, which is used not only as a fault detector to provide the estimation of the time when the fault occurs, but also as an estimator providing the estimates of full states and unknown input. From these estimation information, faulttolerant controller is constructed. The performance of the faulty system is proved within acceptable limits. Finally, the validity of the proposed method is verified by the simulation.