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对多输入多输出系统，基于输出反馈，作者根据Ｈｕｒｗｉｔｚ稳定性理论，得到了一种多重系统同时稳定的充分必要条件，基于这一充分必要条件，通过引入二次型性能指标和非线性约束优化理论，得到了一种同时稳定的容错控制设计算法，由该算法设计的控制律可以使系统同时具有较好的稳态性能和动态性能
Based on the Hurwitz stability theory, the author obtains a sufficient and necessary condition for multiple systems to be stable at the same time. Based on this sufficient and necessary condition, by introducing the quadratic performance index and the nonlinear constrained optimization Theory, a stable fault tolerant control design algorithm is obtained. The control law designed by this algorithm can make the system have better steady state performance and dynamic performance