This note presents a learning approach for accommodating faults occurring in a class of nonlinear multi-input-multi-output (MIMO) dynamical systems. Changes in the system dynamics due to a fault are modeled as unknown nonlinear functions of the measurable state variables. The closed-loop stability of the robust fault accommodation scheme is established using Lyapunov redesign methods. A simulation example, based on a model of a jet engine compression system, is used to illustrate the fault accommodation design procedure.