研究含大测量时滞和噪声的网络控制系统(Networked control systems,NCS)的故障诊断问题,提出一种新的基于无时滞转换方法的最优故障诊断器的设计方法.该方法首先构造一个隐含故障状态的增广系统,并利用无时滞转换方法将含有测量时滞的网络控制系统转换为无时滞系统.然后给出了故障的可诊断性判据,并利用对偶原理将最优故障诊断器的设计问题转换为状态反馈控制器设计问题.最后,通过构造一种满足二次型性能指标的最优故障诊断器,实现了故障的实时诊断.仿真示例验证了该方法的可行性和有效性.%The problem of fault diagnosis is investigated for networked control systems (NCS) with large measurement delays and noises. Based on the delay-free transformation approach, a novel design approach to optimal fault diagnoser is proposed. This scheme first establishes an augmented system with hidden fault states, and the networked control system with delays is transformed into a delay-free one by using the delay-free transformation approach. Then, a diagnosability criterion of faults is given. Furthermore, the design problem of the optimal fault diagnoser is transformed into the design problem of a state feedback controller by utilizing the duality principle. Finally, the real-time fault diagnosis is realized by constructing a novel optimal fault diagnoser which meets the quadratic performance index. The feasibility and validity of the proposed scheme are demonstrated by a simulation example.
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