本文把多变量控制系统常出现的故障分为两类:1)第 i 个回路中传感器失效;2)第 j 个回路中执行机构失效。以线性时不变系统为研究对象,本文建立了故障系统的数学模型,提出了仍能保证系统稳定的控制器必须满足的准则,从而为设计具有容错能力的控制系统提供了理论依据。 In this paper, the multivariable control system often appear in the breakdown is divided into two categories: 1) i loop in the sensor failure; 2) the j loop actuator failure. In this paper, the linear time-invariant system is taken as the research object. In this paper, the mathematical model of the fault system is established, and the criterion which must be satisfied by the controller that can guarantee the system stability is also proposed. This provides a theoretical basis for the design of a fault-tolerant control system.