通过构造增广系统的降维状态观测器，设计了在线诊断故障的故障诊断器。利用故障诊断的结果，设计了故障的动态自修复控制律使系统在故障情况下能够正常运行。-By constructing an augmented system which comprises the states of faults and doing the delay-free transformation of delayed measurements for the augmented system, the problem of fault diagnosis for systems with delayed measurement was transformed into the problem of state observation of a delay-free augmented system.