针对一类具有时变时延和丢包的网络化控制系统,基于最近提出的一种状态多时延模型,根据完整性容错控制思想和李亚普诺夫稳定理论,以时滞依赖的方法,推出了闭环系统对执行器或传感器失效故障具有完整性的判据。进而以求解线性矩阵不等式的方式,给出了容错控制器的设计方法。由于新模型中考虑了时延下界,且证明过程无需寻找向量内积上界进行放大处理,其结果具有较少保守性。以一仿真示例验证了所述方法的有效性。 Aiming at a class of networked control systems with time-varying delay and packet loss, based on the recently proposed state-delay model, according to the theory of complete fault tolerant control and Lyapunov stability theory, a delay-dependent approach is introduced Criteria for the integrity of a closed-loop system in the event of an actuator or sensor failure. In order to solve the linear matrix inequality, the design method of fault-tolerant controller is given. Since the new model considers the lower bound of delay, and proves that the process does not need to search for the upper bound of inner product of vector, the result is less conservative. The simulation results show the effectiveness of the proposed method.