Robust fault detection of networked control systems with random network-induced delay

An approach to fault detection of networked control systems with random network-induced delay is proposed in this paper. In the method, the time-varying disturbance vector caused by random network-induced delay is transformed into the known structure matrix by Taylor approximation, the residual generator is obtained by the parity space method, the root mean square(RMS) is used as the residual evaluation function which can be interpreted as the average energy in residual signal. The residual evaluation function is selected, and an adaptive threshold is proposed. The simulation results verify the effectiveness of the proposed method.