## 1 Introduction
[18] pointed out that the reconfigurability is also called the recoverability of failure, and the reconfigurability is evaluated from the perspective of a community, i.e., the system is not reconfigurable if the system cannot find a controllable community. The reconfigurability modeling methods can be generally classified into four types: based on the residual controllability/observability of faulty systems [16; 18; 19; 20; 21; 22], based on Bayesian [13; 23; 24; 25], based on the Markov model [26; 27; 28], based on a multiobjective evolutionary algorithm based on decomposition (MOEA/D) framework [29]. At present, most of the research on reconfigurability is based on the residual controllability/observability of faulty systems [15]. To describe the reconfigurability of HPDME-ASVIS, the alignment controllability should be studied. The alignment control problem is a multi-objective optimization problem with multivariable and multi-constraints. [PERSON] et al. [29] pointed out that objective optimization is a typical trade-off problem where it is cognitively impossible to optimize all conflicting objectives simultaneously. In other words, the optimization of any objective will lead to the degradation of one/more other objectives. Based on the geometric method, [PERSON] and [PERSON] [30] proposed a controllability analysis method for the constrained multi-objective multi-degree-of-freedom optimization (CMMO) in a steady state, which solves the high-dimensional space intersection problem (including intersection region estimation) and inequality compatibility problems (including compatibility region estimation). The feasibility of the constrained optimization problem is a prerequisite for a controllability system [31]. [PERSON] and [PERSON] [32] used an algebraic method for solving linear programming problems to judge the feasibility of CMMO. They also propose a CMMO feasibility analysis and soft constraint adjustment algorithm, in which the priority level of the constraint needs to be adjusted by the user. [PERSON] et al. [33] propose a feasibility analysis and constraint adjustment of automatic constraint optimization control without user participation and demonstrated its effectiveness by a simulation test of a petroleum fractionator. [PERSON] et al. [34] solved the instability problem of the steam generator system of the nuclear power plant under hard constraints by using soft constraints model predictive control (MPC), which can improve the stability during steam disturbance and large-scale power variation of the unit. [PERSON] et al. [35] guarantee the recursive feasibility of MPC by softening the input constraints and state constraints. [PERSON] et al. [36] propose a soft constraints MPC formulation supporting polytopic invariance region in half-space and climax, which increases the feasible set and improves asymptotic stability significantly. Therefore, alignment controllability can be analyzed by solving linear programming problems, and the soft constraints are expected to solve the alignment control failure of HPDME-ASVIS at high output torque state. Based on the results of the analysis of the alignment controllability, the reconfigurability is described. [PERSON] and [PERSON] [14] used Fault Reconfigurable Degree (FRD) and System Reconfigurable Rate (SRR) as evaluation indexes for spacecraft reconfigurability, where FRD is a contradictory judgment based on whether the system is reconfigurable or not. The alignment of FRD and SRR are defined, and then the autonomous control is designed. The overall purpose of this paper is to analyze the reconfigurability of HPDME-ASVIS and propose an automatic control method by analyzing the device mechanics and establishing an alignment control response. The structure of this paper is organized as follows. In Section 2, the device mechanics are analyzed and the research problem is formulated. In Section 3, the alignment control response model is established. In Section 4, the alignment controllability judgment model, reconfigurability analysis, and autonomous control are described.