Abstract: The problem of guaranteed cost H_∞ robust reliable control is investigated for time-varying delayed uncertain systems against actuator failure.Based on Lyapunov stability theory，a sufficient condition for the existence of guaranteed cost H_∞ robust reliable controller is derived and transformed to a Linear Matrix Inequality（LMI）.At the same time，the associated designing approach of the state-feedback controller is provided.This sufficient condition has relevance to time delay.The resultant robust reliable control systems not only retain asymptotic stability and disturbance attenuation with H_∞-norm bounds but also possess the performance index of guaranteed cost despite any outages within a prespecified subset of actuators.

Key words: guaranteed cost, H_∞ control, robust reliable control, uncertain time-varying delayed system, actuator failure, linear matrix inequality

摘要： 针对一类含有时变时滞的不确定线性系统，研究了在执行器发生故障情况下系统具有保成本H_∞鲁棒可靠控制器设计问题。根据Lyapunov稳定性理论，得到了系统存在保成本H_∞鲁棒可靠控制器应满足的一个矩阵不等式，进一步将这个矩阵不等式转化为线性矩阵不等式（LMI），并给出了系统状态反馈控制器的设计方法，所得的结果是时滞相关的。利用论文方法设计的鲁棒可靠控制器能够使得时变时滞系统对于任意允许的不确定量以及一个预先指定执行器子集中任意执行器失效不仅具有鲁棒容错性，并且使系统存在保成本上界以及具有指定H_∞范数的干扰抑制能力。

关键词: 保成本, H_∞控制, 鲁棒可靠控制, 不确定时变时滞系统, 执行器失效, 线性矩阵不等式