In this paper, the technique of static gain as a new research approach is applied in the nonlinear triangular systems to investigate the issue of actuator fault. By employing the static gain technique, the nonlinear lower-triangular systems are converted into the form which is easy to find its Lyapunov function. The fault parameters of the actuator are subsequently processed by the efficient adaptive estimation tactic, after that, the goal of guaranteeing the global boundness of all closed-loop signals can be achieved by utilizing a state controller with the hyperbolic functions. Moreover, by adopting the same strategy, the actuator failure compensation problem is also solved for the nonlinear upper-triangular systems. Last but not least, the effectiveness of the design scheme is verified by two numerical simulation examples.

中文翻译：

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基于静态增益技术的非线性三角系统执行器失效补偿控制方案

本文将静态增益技术作为一种新的研究方法应用于非线性三角系统，以研究执行器故障问题。采用静态增益技术，将非线性下三角系统转化为易求其李雅普诺夫函数的形式。执行器的故障参数随后通过高效的自适应估计策略进行处理，然后利用具有双曲线函数的状态控制器来实现保证所有闭环信号的全局有界性的目标。此外，通过采用相同的策略，还解决了非线性上三角系统的执行器失效补偿问题。最后但同样重要的是，通过两个数值模拟实例验证了设计方案的有效性。