中文摘要：

针对双容液位控制系统的执行器失效等故障，通过线性化建模，研究了鲁棒自适应容错控制问题。首先在系统无故障正常工作时，考虑建模误差、输入信号的稳定性、系统参数等不确定性因素，利用不确定性上界自适应估计，设计了不确定时滞鲁棒控制器。同时，对系统进行故障检测，研究了一种修正控制律的自适应鲁棒容错控制器设计方法，该控制器通过修补执行器故障所带来的影响使该系统最终有界稳定。最后，通过仿真实验，验证了提出方法的有效性。

英文摘要：

Aiming at the dual tank liquid level control system actuator failure, by linear modeling, study the problem of robust adaptive fault tolerant control. First when trouble-free working properly in the system, considering the uncertainties of the modeling errors, the sta- bility of the input signal, the system parameters, use adaptive estimation of uncertainty upper bound to design the uncertain delay robust controller. At the same time, the fault detection for system is made, a modified control law adaptive robust fault-tolerant controller design method is researched. The impact of the controller through the patch actuator failure makes the system ultimately bounded stable. Finally, through simulation, verify the effectiveness of the proposed method.