关键词: 容错, 时滞, 鲁棒性, 状态反馈

Abstract: A method of decentralized robust fault-tolerant control is presented for large-scale systems with time-delays in inter-connection.The purpose of the method is to make the system remain stable，for sensor or actuator failures as well as uncertainties.Based on Lyapunov theory，the sufficient conditions of the systems with fault-tolerance under sensor failures and the design procedure of the controller are given.And the result is generalized to the systems under actuator failures.At the end of this paper，an illustrative example is given to demonstrate the correctness of the proposed method，and the result of the example is analyzed.

Key words: fault-tolerant, time-delay, robustness, state-feedback