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以线性时不变多输入多输出反馈控制系统为研究对象，建立了基于ｋ个传感器和ｎ个执行器失效的故障系统数学模型，并提出了仍能保证系统稳定性的控制器必须满足的条件，从而为设计具有容错能力的控制系统提供了理论依据。
Taking the linear time-invariant multiple-input multiple-output feedback control system as the research object, a mathematical model of the fault system based on k sensors and n actuators failures is established and the conditions that must be satisfied by the controller that can still guarantee system stability , Which provides a theoretical basis for the design of a fault-tolerant control system.