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中文摘要：
针对存在执行器故障的不确定非仿射动态系统,研究其跟踪控制问题.在不太苛刻的Lipschitz条件下,提出了一种成本低、易于设计的用户友好类似比例积分（Proportion integration,PI）的控制策略,和传统PI控制方法不同,这里的＂比例＂＂积分＂增益的确定无需反复试凑过程,并且在系统可能出现执行器失效故障的情况下可以确保稳定跟踪.
英文摘要：
This work investigates the tracking control problem of nonaffine dynamic systems in the presence of modeling uncertainties and unpredictable actuation failures.Under the mild Lipschitz condition,a low-cost and user-friendly PI（Proportion integration）-like control scheme is developed without involving the time-consuming ＂trial and error＂ process for determining control gains as with a traditional PI control.Furthermore,the proposed control is fault-tolerant in the sense that stable tracking stability is still maintained without the need for re-adjusting control parameters even if the actuator loses its actuation effectiveness during system operation.
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