中文摘要：

研究了同时存在未知长时延、丢包和量化误差条件下的网络化控制系统（Networked control systems，NC—Ss）的故障检测问题。通过将网络诱导时延的影响转化为polytopic不确定性，并将丢包和量化误差的影响描述成模型的未知输入，把最优残差发生器的设计等效为一个模型匹配问题，并采用基于参考模型的方法求得最优解。实验结果显示，当存在丢包、时延和量化误差时，本文的方法可以快速准确地检测到故障。

英文摘要：

The problem of fault detection is studied for a class of networked control systems （NCSs） with unknown long time-varying delay, quantization error and packet dropout. The design of the optimal residual generator is formulated as a model match problem by transforming the network-induced delay into time-varying polytopic uncertainty and describing quantization error and packet dropout as unknown model inputs respectively, and solved by utilizing the so-called reference-model based method. Experimental results show that the proposed method can quickly and exactly detect the fault when these network factors exist.