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For the sensor and actuator fault diagnosis problems in continuous system,an adaptive descriptor observer is proposed to fulfill fault estimation,and estimates the sensor fault and actuator fault in system simultaneously,and the proposed method overcomes shortcomings in the existing studies assuming that the upper of fault,fault derivative and system disturbance should be known. An H∞ performance index is utilized to restrain the influence to fault estimation caused by disturbance. The gain matrices of the adaptive descriptor observer will be obtained by the linear matrix inequality,and then the proposed fault diagnosis observer can be designed conveniently. A Lyapunov function is used to prove the observer error dynamic system is robust asymptotically stable. Finally,a simulation example is employed to show the effectiveness of the proposed method.