To demonstrate the effectiveness of the proposed method, an active fault tolerant controller is designed for a double inverted pendulum system with a fault in the motor tachometer loop.

为了验证所提出的主动容错策略的有效性，针对两级倒立摆系统中的电机测速回路故障问题，设计了主动容错控制器。

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To demonstrate the effectiveness of the proposed method, an active fault tolerant controller is designed for a double inverted pendulum system with a fault in the motor tachometer loop.

为了验证所提出的主动容错策略的有效性，针对两级倒立摆系统中的电机测速回路故障问题，设计了主动容错控制器。

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