In this paper, an adaptive dynamic PID sliding surface-based second-order fault-tolerant sliding mode controller for speed control of an electromechanical system is proposed. The paper aims to show how to utilise the robust properties of second-order adaptive dynamic sliding mode control on the problem of structural damage fault. Structural damage fault is apparently studied less than faults of actuator and sensor. Because of this reason, this study focuses on the structural damage fault. In order to solve the chattering which is the main problem of first-order/ traditional SMC, second-order controller is designed. The Lyapunov theorem is used for affirming the design and stability of the closed-loop system. Experimental results show that the control system with the proposed controller is easily implemented. Also, the proposed fault-tolerant controller, concerning parametric uncertainties and disturbances, acquire suitable tracking performance and shows more robustness than the traditional SMC.