针对执行器失效情形,利用广义Riccati方程,给出了基于观测器的广义系统鲁棒容错控制器的设计方法,并根据广义Riccati方程的参数化解,给出基于观测器的鲁棒容错控制器的参数化解。利用该方法设计的动态控制器使所得闭环系统既使在执行器失效和有系统参数不确定的情况下也都是正则、无脉冲、稳定的。数值例子验证了该方法的有效性。 Aiming at the problem of actuator failure, a general observer-based robust fault-tolerant controller design method based on generalized Riccati equation is proposed. According to the parameter solution of generalized Riccati equation, an observer-based robust fault-tolerant controller Parameter solution. The dynamic controller designed by this method makes the closed-loop system obtained regular, pulse-free and stable even in the case of actuator failure and uncertain system parameters. Numerical examples verify the effectiveness of this method.