Multi-model adaptive fault compensation control method and system of motor train unit braking system

The invention relates to a multi-model adaptive fault compensation control method and system for a motor train unit braking system. The method comprises the following steps: establishing a first motor train unit braking system model; establishing a second motor train unit braking system model according to the first motor train unit braking system model; establishing a motor train unit reference model according to the expected braking curve of the motor train unit; determining an adaptive fault compensation controller in each fault mode according to the second motor train unit braking system model and the motor train unit reference model to obtain a controller set; determining a system state estimation error according to the system state quantity estimation value and the system state, designing a parameter adaptive law according to the system state estimation error, and further designing an adaptive fault-tolerant controller set; determining a performance loss function based on the system state error; determin