网络控制系统的故障检测

针对一类同时存在时变时延与随机丢包的网络控制系统，研究了系统的鲁棒故障检测问题。考虑传感器与控制器之间、控制器与执行器之间的随机丢包与时变时延的现象，首先将时变时延对系统的影响转化为未知有界条件下的不确定项，再将随机丢包用满足Bernoulli分布的二进制序列来描述，并设计了系统的鲁棒 故障观测器，给出了基于观测器闭环系统渐近稳定的充分条件。最后，通过仿真验证了该方法的有效性。

Fault Detection for Networked Control System

Robust fault detection of a class of networked control systems with time-varying delay and random packet losses is studied. Considering random packet dropout and network-induced time-varying delay in both from sensor to controller (S/C) and from controller to actuator (C/A), the impact of time-varying delay on the system is converted to the unknown bounded uncertain disturbance and the random packet losses are described by a binary switching sequence satisfying a Bernoulli distribution. On this basis, the robust fault observer is constructed and the sufficient condition of asymptotical stability of the observer-based closed-loop systems is deduced. Finally, the result of simulation shows the effectiveness of the proposed method.