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中文摘要：
研究含有控制时滞的线性系统的故障诊断方法和最优容错控制问题．给出了最优容错控制律的存在唯一性条件，提出了最优容错控制律的设计算法．通过构造增广的降维状态观测器，设计了在线诊断故障的故障诊断器并同时实现了系统状态的观测，解决了最优容错控制的物理不可实现问题．利用观测器的输出得到物理可实现的动态最优容错控制律．仿真实例验证了故障诊断方法和动态最优容错控制律的有效性．
英文摘要：
The method of fault diagnosis and the optimal fault-tolerant control problem are studied for linear systems with control time-delay. The existence and uniqueness condition of optimal fault-tolerant control law is given, and the algorithm for solving the optimal fault-tolerant control problem is presented. The on-line fault diagnosis and the observation of system states are realized by constructing the augmented reduced-order state ohserver, and the physically unrealizable problem is solved. In addition, the physically realizable dynamic optimal fault-tolerant control law is obtained by ulitizing the outputs of state observer. Simulation example shows the effectiveness of the fauh diagnosis scheme and the dynamic optimal fault-tolerant control law.
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