Abstract: The problem of robust H∞ fault-tolerant design was investigated for uncertain nonlinear networked control system(NNCS) under actuator saturation constraint and fault.In order to obtain less-conservative criterion,an appropriate delay-dependent Lyapunov-Krasovskii functional was constructed,and the improved Wirtinger integral inequality was used,which possesses tighter lower-bound than Jensen integral inequality.Then,a less-conservative criterion was derived to guarantee robust H∞ fault-tolerant performance for the closed-loop fault NNCS with actuator saturation,and the design method of robust fault-tolerant controller was given by solving LMIs.Finally,numerical example was given to verify the effectiveness of the proposed method,and the less conservativeness of the proposed criterion was revealed by solving and comparing the maximum allowable delay and the minimum disturbance attenuation with some of the existing results.In addition,there is no introduction of any new decision variable apart from the matrix variable in the L-K functional,and then low computational complexity of the conclusion can be obtained.

Key words: Nonlinear networked control system,Actuator saturation,Robust fault-tolerant,Less comservativeness