研究了控制器故障下具有非线性干扰的多时变时滞不确定系统的鲁棒指数稳定性问题.利用不确定多时变时滞切换系统模型描述了所考虑的系统.提出了基于平均驻留时间的切换方法.在此方法下,以线性矩阵不等式(LMIs)形式得到了切换系统鲁棒指数稳定的充分条件,并从理论上证明了即使控制器失效所生成的闭环系统也是鲁棒指数稳定的.最后通过仿真算例验证了所提方法的有效性. The robust exponential stability problem for uncertain systems with multiple time-varying delays with nonlinear disturbances under controller failure is investigated. The system under consideration is modeled by an uncertain multi-time varying delay switched system model. A new system based on mean dwell time Under this method, sufficient conditions for the robust exponential stability of the switched system are obtained in the form of linear matrix inequalities (LMIs), and it is theoretically proved that the closed-loop system generated by controller failure is robustly exponentially stable Finally, a simulation example is given to verify the effectiveness of the proposed method.