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Ｌｕｒｉｅ时滞控制系统是工程实残中经常遇到的一类重要的非线性控制系统，本文根据微分方程理论，提出了不确定性具有多个执行机构的Ｌｕｒｉｅ时滞控制系统时滞相关稳定的充分性判据，并给出系统衰减速率的估计方法。该方法仅需假定时滞有界，因而其结论适用于变时滞的系统。给出两个应用实例，并与相关成果进行了比较，计算结果表明了本方法的有效性。
Lurie time-delay control system is a kind of important nonlinear control system often encountered in real engineering. According to the theory of differential equations, this paper presents a delay-dependent and stable Lurie system with uncertainties and multiple actuators Sufficient criterion, and gives the method of estimating the decay rate of the system. This method only needs to assume that the time-delay is bounded, so its conclusion is applicable to a system with time-varying delays. Two application examples are given and compared with the related results. The calculation results show the effectiveness of the method.