针对广义时变系统的鲁棒容错控制问题,基于矩阵不等式及建立Lyapunov方程的方法,首先,在系统出现执行器故障的情况下,分别给出了两种广义时变系统模型鲁棒镇定的充要条件.接着,在系统出现外部干扰的情况下,给出了相应模型鲁棒镇定的充分条件,同时给出了相应的容错控制器的设计方法. For the robust fault-tolerant control of generalized time-varying systems, based on the matrix inequality and the method of establishing Lyapunov equations, the robust stabilization of two generalized time-varying system models is given in the presence of actuator failures. Then, the sufficient conditions for the robust stabilization of the corresponding model are given in the presence of external disturbances, and the corresponding fault-tolerant controller design method is given.