中文摘要：

研究具有多包传输、时变采样周期和未知干扰输入的Lipschitz非线性网络控制系统的故障检测问题;利用主动变采样周期的方法将多包传输的非线性连续网络控制系统建模为离散切换系统,设计基于观测器的鲁棒故障检测滤波器构造残差产生系统,运用Lyapunov稳定性理论和线性矩阵不等式（LMI）技术,绘出了使闭环系统渐近稳定的充分条件及故障检测滤波器的增益矩阵;最后运用仿真算例说明了故障检测滤波器的残差产生系统对故障具有敏感性,同时对外部扰动输入具有鲁棒性。

英文摘要：

The problem of fault detection is considered for the Lipschitz nonlinear networked control systems with multi-packet transmission and time-varying sampling period and unknown interference inputs,with time-varying sampling period of switching method to nonlinear networked control systems with multiple packet transmission is modeled as a discrete switched systems,a robust fault detection filter is designed based on observer structure residual generation system,based on the Lyapunov stability theory and linear matrix inequality（LMI）,the closed-loop system is asymptotically stable is given the sufficient conditions and the method of calculating the fault detection filter gain matrix.Simulation example is given to prove the fault detection filter is designed by the residual error of system for faults with sensitivity,and has robustness to external disturbance inputs.