CN103458068A - Method and system for detecting and controlling network control system - Google Patents

Abstract

The invention belongs to the field of control, and provides a method and system for detecting and controlling a network control system. Based on a continuous time system model of a controlled object, a controller acquires output signals collected through a sensor and passing through an analog-digital converter and the sampling time delay of network transmission, and the controller and a fault detector are designed. The fault detector detects fault detection signals, and meanwhile the controller outputs control signals to achieve closed-loop control over the controlled object. Therefore, the method and system for detecting and controlling the network control system avoids the model error brought by discretization modeling, fault information is taken into consideration with the design of an initiative fault-tolerant controller, and the needs of detecting faults accurately of the fault detector are further taken into consideration. Preferably, a cone complementarity linearization technology is called in the integral design process of the fault detector and the controller depending on a time-lag network control system, the solution of designing the controller is translated into a nonconvex optimization problem under a linear matrix inequality, and conservative properties are reduced greatly compared with lag irrelevance. Therefore, the method and system for detecting and controlling the network control system achieves fault detection and fault tolerance control.

Description

A kind of Detection & Controling method and system of network control system

Technical field

The invention belongs to control field, relate in particular to a kind of Detection & Controling method and system of network control system.

Background technology

Along with to the improving constantly of the requirements such as systematic function, product quality, production capacity and low cost, low consumption, the modernization project technological system is just towards extensive, complicated, networking, decentralized future development.System is more complicated, scale is larger, and the possibility broken down is just higher.When phylogenetic fault can not be detected and get rid of in time, once break down, the massive losses of personnel and property will be caused.For example, " river in Zhejiang Province temperature line " the especially big rear end collision of motor train accident occurred on July 23rd, 2011, detected in time, got rid of and processing because signal and dispatching patcher break down, and caused dead 40 people, the tragedy that people more than 200 is injured.Under similar background, the fault diagnosis and fault-tolerant control technology of dynamical system is as improving the important means of security of system with reliability, for reliability, the fail safe of assurance system, improve the quality of products and reduce cost consumption, significant.The Integrated design that considers fault diagnosis subsystem and fault-tolerant control subsystem performance requirement is one of most important theories problem of fault diagnosis and fault-tolerant control research field.At present, for the network time lag for uncertain at random, there are network control system (the Networked Control System – NCS) fault detect of the phenomenons such as data packet loss, data entanglement and the research of fault-tolerant control problem, the discretization system model that mainly is based on NCS carries out, and is referred to as indirect method; Yet the complexity of this body structure of network and flexibility have caused the discretization system model easily to produce larger modeling error.The General N CS that is unknown bounded for the network time lag, set up the continuous time model dynamic behaviour of descriptive system more accurately, easily; Yet the fault detect based on continuous time system and fault-tolerant control problem to NCS, only considered the contingent Actuators Failures fault of system at present.

Summary of the invention

The purpose of the embodiment of the present invention is to provide a kind of Detection & Controling method of network control system, and the method, based on continuous time model, realizes fault detect and fault-tolerant control.

The embodiment of the present invention is achieved in that a kind of Detection & Controling method of network control system, and described method comprises:

According to the continuous time model of controlled device, output signal is measured in the transducer collection;

The analog to digital converter described measurement output signal of sampling, obtain digitized measurement output signal;

Controller receives output signal, according to the network control model, processes described output signal, controlled signal, and described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag;

Tracer receives described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal;

Digital to analog converter is converted to digital control signal the control signal of simulation, the described control signal that the control signal of described numeral lags behind while transmitting for process;

Actuator, according to the control signal of described simulation, is controlled described controlled device work.

Based on said method, another purpose of the present invention is to provide a kind of measurement and control system of network control system, and described system comprises:

Transducer, for the continuous time model according to controlled device, gather and measure output signal;

Analog to digital converter, for the described measurement output signal of sampling, obtain digitized measurement output signal;

Controller, for receiving output signal, process described output signal according to the network control model, controlled signal, and described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag;

Tracer, for obtaining the fault model of described network control system, receive described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal;

Digital to analog converter, be converted to the control signal of simulation for the control signal by digital, the described control signal that the control signal of described numeral lags behind for through transmission the time;

Actuator, for the control signal according to described simulation, control described controlled device work.

The invention provides a kind of Detection & Controling method and system of network control system, based on continuous time system, the output signal that controller obtains is the transducer collection, after analog to digital converter, lag behind during through the sampling of network, CONTROLLER DESIGN and tracer; Tracer detects the estimated signal of fault-signal, i.e. fault detection signal, and simultaneously, controller output control signal realizes the control to passive object; Thereby, the modeling error that the present invention has avoided the discretization modeling to bring; When the controller of design Active Fault Tolerant, considered the needs of the accurate detection failure of tracer, simultaneously, also considered fault message while designing fault-tolerant controller; More optimizedly, design dependency, in the process of the tracer of the network control system of time lag and controller, is used non-convex line MATRIX INEQUALITIES, and lags behind relatively irrelevantly, and conservative reduces greatly.Therefore, the present invention has realized fault detect, also has fault tolerance.

The accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the realization flow figure of the Detection & Controling method of the network control system that provides of the embodiment of the present invention one;

Fig. 2 is the network architecture diagram of the measurement and control system of the network control system that provides of the embodiment of the present invention two.

Embodiment

In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

For technical solutions according to the invention are described, below by specific embodiment, describe.

embodiment mono-:

In network control system, in the limited network bandwidth, the packet received exists time lag, the problem such as out of order, the present invention is in the situation that considered the problems referred to above, based on the continuous time system model, proposed the Detection & Controling method of network control system, the modeling error of effectively having avoided the discretization process to bring, also have fault tolerance when realizing detecting fault message.

Fig. 1 shows the Detection & Controling realization flow of the network control system that first embodiment of the invention provides, and details are as follows for its process:

Step S101, according to the continuous time model of controlled device, output signal is measured in the transducer collection.

When actuator is controlled controlled device according to the control signal of the simulation of feeding back last time, transducer is gathered the output data of controlled device, obtains measuring output signal.

Preferably, when output signal is measured in the transducer collection, gatherer process is to gather continuous time, and described collection is measured output signal and met continuous time model; More optimizedly, introduced unknown input, fault-signal in described continuous time model, described the unknown is input as system outer noise or input signal, the signal of the principal element that described fault-signal is initiating failure; Wherein, described continuous time model comprises:

$\stackrel{\·}{x}\left(t\right)=\mathrm{Ax}\left(t\right)+\mathrm{Bu}\left(t\right)+B_{d}d\left(t\right)+B_{f}f\left(t\right),$ y(t)＝C ₁x(t)，z(t)＝C ₂x(t)+D ₂u(t)，x(t ₀)＝x ₀,t ₀≥0；

Wherein,

described

for next system mode, described x (t) is current system mode, the control signal that described u (t) is described simulation, described y (t) is for measuring output signal, described d (t) is unknown input signal, described f (t) is fault-signal, and described d (t) and described f (t) all meet L ₂norm-bounded, x ₀for initial condition, described A, described B, described B _d, described B _f, described C ₁, described C ₂, described D ₂be respectively the known system parameters of network control system, t ₀for initial time, described t is the time.

As another embodiment of the present invention, described sampling time lag, described processing time lag, described transmission time lag meet Time-Delay model, and described Time-Delay model comprises:

${\mathrm{\τ}}_k^{\mathrm{sc}}\≥{\mathrm{\τ}}_{\mathrm{ml}},{\mathrm{\τ}}_k^{\mathrm{ca}}\≥{\mathrm{\τ}}_{m2},(i_{k+1}-i_k)h+{\mathrm{\τ}}_{k+1}^{\mathrm{sc}}\≤\mathrm{\η},i_{k}h+{\mathrm{\τ}}_k\≤i_{k+1}h+{\mathrm{\τ}}_{k+1}^{\mathrm{sc}};$

Wherein, described

for described sampling time lag, described for described processing time lag, described

for described transmission time lag, described τ _kfor total time lag, described total time lag is described sampling time lag, described processing time lag and described transmission time lag sum, and described h is the sampling period, and described k is positive integer,

described τ _m1, described τ _m2, described η is respectively constant, and τ _m1>=0, τ _m2>=0, η>=0.

Described processing time lag comprises that controller calculates the calculating time lag caused in processing.

Work as i _k<i _k+1, mean that new data packets is later than old packet and arrives controller; Work as i _k>i _k+1, mean that new data packets arrives controller early than old packet.

According to Time-Delay model, when presetting described τ _m1, described τ _m2, during described η, can filtering abnormal data bag etc. abnormal conditions; Along with described τ _m1, described τ _m2, described η the reducing of value, the abnormal data Bao Yue of filtering is many, for example: when certain packet every do not meet Time-Delay model time just by controller, received, this kind of situation that there is this packet in the present invention regarded as abnormal conditions and do not considered, and only considers to meet receive, packet that may have the sequential entanglement in the sequential entanglement time that Time-Delay model sets.

Step S102, the analog to digital converter described measurement output signal of sampling, obtain digitized measurement output signal.

Analog to digital converter to measuring the output signal once sampling, obtains digitized measurement output signal every sampling period h.

Described digitized measurement output signal is transmitted by network; In the present embodiment, due to the transmission time lag, the time lag of packet from the sensor transmissions to the controller is the sampling time lag.

Step S103, controller receives output signal, according to the network control model, processes described output signal, controlled signal, described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag.

Preferably, described network control model comprises:

$\stackrel{\&CenterDot;}{\hat{x}}\left(t\right)=A\hat{x}\left(t\right)+\mathrm{BK}\hat{x}(i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}})+H_1(y\left(i_{k}h\right)-C_1\hat{x}\left(t\right)),$ $v_{i_k}=K\hat{x}(i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}});$

Wherein, described for next state estimation, described

for current state estimation, described K is gain matrix to be designed, described H ₁for observation gain matrix to be designed, described

for described control signal, described y (i _kh) be digitized measurement output signal, described

for the described sampling time lag of process

after current state estimation.

According to the output signal received, known state estimation (state estimation that comprises last time), the H that designed last time ₁the gain matrix K that observation gain matrix, last time are designed, calculate current state estimation

thereby, to be designed go out when time observation gain matrix H ₁after gain matrix K, calculate next state estimation

simultaneously, to be designed go out when time gain matrix K after, controller output control signal

Step S104, tracer receives described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal.

As one embodiment of the invention, tracer receives described output signal, control signal, according to Fault Model, processes described output signal, described control signal, and before obtaining the step of fault detection signal, described method also comprises:

Tracer obtains the fault model of described network control system, and described fault model comprises:

${\stackrel{\&CenterDot;}{x}}_f\left(t\right)=A_{\mathrm{wf}}{x}_f\left(t\right)+B_{\mathrm{wf}}f\left(t\right),$ r _f(t)＝C _wfx _f(t)+D _wff(t)，x _f(t ₀)＝x _f0,t ₀≥0；

Wherein, described for next malfunction, described x _f(t) be current malfunction, described x _f0for initial malfunction, described A _wf, described B _wf, described C _wf, described D _wffor the system parameters matrix of tracer, described r _f(t) be the fault residual signal.

When actuator is controlled controlled device work, introduced fault-signal f (t); Therefore, based on network control system of the present invention, set up the fault model of continuous time.

After transducer collects the measurement output signal y (t) after having introduced fault-signal f (t), tracer receives the sampling time lag caused through Internet Transmission

after y (i _kh).Tracer is processed output signal y (i according to Fault Model _kh), described control signal

obtain fault detection signal r (t).

As one embodiment of the invention, described Fault Model comprises:

${\stackrel{\&CenterDot;}{\hat{x}}}_f\left(t\right)=A_{\mathrm{wf}}{\hat{x}}_f\left(t\right)+H_2(y\left(i_{k}h\right)-C_1\hat{x}\left(t\right)),$ $r\left(t\right)=C_{\mathrm{wf}}{\hat{x}}_f\left(t\right),$ $t\&Element;[i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}},i_{k+1}h+{\mathrm{\&tau;}}_{k+1}^{\mathrm{sc}});$

Wherein, described

for next malfunction is estimated, described

for current malfunction is estimated, described H ₂for detection gain matrix to be designed, described r (t) is fault detection signal.

As one embodiment of the invention, in order to keep fault detection signal r (t), approach fault-signal f (t); Meeting H _∞under the condition of model, set up the fault model of described network control system, described H _∞the performance index model is:

wherein, w (t)=[d ^t(t) f ^t(t)], described W _f(t) be stable weighting matrix, described γ>=0, described d ^t(t) be the transposed matrix of d (t), described f ^t(t) be the transposed matrix of f (t).

As one embodiment of the invention, in design, work as inferior observation gain matrix H ₁during with gain matrix K, the state estimation deviation need to be limited in the fluctuation range of the present invention's permission; Therefore, described controller receives output signal, according to the network control model, processes described output signal, and the step of controlled signal also comprises:

In the situation that according to the fluctuation range of state estimation buggy model finite-state estimated bias, process described output signal, state estimation according to the network control model, obtain described observation gain matrix to be designed, with controlled signal, described state estimation buggy model is:

wherein, described e (t) is the state estimation deviation.

More excellent another embodiment as the present invention, at design observation gain matrix H ₁, detect gain matrix H ₂during with gain matrix K, in the fluctuation range that the state estimation deviation is limited to the present invention's permission, the Fault Estimation deviation is limited in the fluctuation range of the present invention's permission; Therefore, described controller receives output signal, according to the network control model, processes described output signal, and the step of controlled signal also comprises:

In the situation that according to the fluctuation range of state estimation buggy model finite-state estimated bias, according to malfunction estimated bias model limit the malfunction estimated bias fluctuation range, limit the fluctuation range of Fault Estimation deviation according to Fault Estimation buggy model, process described output signal, state estimation according to the network control model, obtain described observation gain matrix to be designed, with controlled signal

Described malfunction estimated bias model is:

wherein said e _f(t) be the malfunction estimated bias;

Described Fault Estimation buggy model is:

R _e(t)=r _f(t)-r (t), wherein said r _e(t) be the Fault Estimation deviation.

In the present embodiment, meeting H _∞under the condition of model, the fault model of planned network control system; || z (t) || ₂≤ α || w (t) || ₂, || r _e(t) || ₂≤ β || w (t) || ₂condition under (wherein, γ>0, β>0, described α, described β are respectively default index), design observation gain matrix H to be designed ₁, detection gain matrix H to be designed ₂with gain matrix K to be designed, thereby tracer detects the estimated signal of fault-signal, i.e. fault detection signal, and simultaneously, controller output control signal realizes the control to passive object.Designing observation gain matrix H to be designed ₁, detection gain matrix H to be designed ₂in the process of gain matrix K to be designed, the nonlinear terms about known variables that contain for the MATRIX INEQUALITIES in sufficiency condition and equality constraint, adopt the cone complementarity linearization technology, be converted into by solving a non-protruding optimization problem that is under the jurisdiction of LMIs, and then provide the linear and iterative algorithm that solves this non-protruding optimization problem.

The present embodiment provides the Detection & Controling method of network control system, and the output signal that based on continuous time system, that controller obtains is the transducer collection, after analog to digital converter, lag behind during through the sampling of network meets || z (t) || ₂≤ α || w (t) || ₂, || r _e(t) || ₂≤ β || w (t) || ₂the condition of performance index under, design observation gain matrix H to be designed ₁, detection gain matrix H to be designed ₂with gain matrix K to be designed, correspondingly to complete the design of controller and tracer; Thereby tracer detects the weighted signal of fault-signal, i.e. fault detection signal, simultaneously, controller output control signal realizes the control to passive object; The modeling error that the present embodiment brings for fear of the discretization modeling; Consider fault message in the controller of design Active Fault Tolerant, also considered the needs of the accurate detection failure of tracer; More optimizedly, design dependency is in the Integrated design process of the tracer of the network control system of time lag and controller, called the cone complementarity linearization technology, solving of controller is converted into to a non-protruding optimization problem that is under the jurisdiction of LMI, relatively irrelevant with hysteresis, conservative reduces greatly.Therefore, the present embodiment has been realized fault detect, also has fault-tolerant control function.

embodiment bis-:

Fig. 2 shows the network architecture of the measurement and control system of the network control system that second embodiment of the invention provides, and for convenience of description, only shows the part relevant to the embodiment of the present invention.

The present embodiment provides the measurement and control system of network control system, this system adopts the described method of embodiment mono-, comprise transducer 21, analog to digital converter 22, controller 23, tracer 24, digital to analog converter 25 and actuator 26, wherein details are as follows for each effector:

Transducer 21, for the continuous time model according to controlled device, gather and measure output signal;

Analog to digital converter 22, for the described measurement output signal of sampling, obtain digitized measurement output signal;

Controller 23, for receiving output signal, process described output signal according to the network control model, controlled signal, and described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag;

Tracer 24, for obtaining the fault model of described network control system, receive described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal;

Digital to analog converter 25, be converted to the control signal of simulation for the control signal by digital, the described control signal that the control signal of described numeral lags behind for through transmission the time;

Actuator 26, for the control signal according to described simulation, control described controlled device work.

Each effector in the measurement and control system of this network control system can be the unit that software unit, hardware cell or software and hardware combine, and can be also that independently suspension member is integrated, runs in this system.

It will be appreciated by those skilled in the art that each effector of comprising for above-described embodiment two is just divided according to function logic, but be not limited to above-mentioned division, as long as can realize corresponding function; In addition, the concrete title of each effector also, just for the ease of mutual differentiation, is not limited to protection scope of the present invention.

The embodiment of the present invention provides a kind of Detection & Controling method and system of network control system, based on the continuous time system model, the output signal that controller obtains is the transducer collection, after analog to digital converter, lag behind during through the sampling of network meets || z (t) || ₂≤ α || w (t) || ₂, r _e(t) || ₂≤ β || w (t) || ₂under the condition of performance index, design observation gain matrix H to be designed ₁, detection gain matrix H to be designed ₂with gain matrix K to be designed, with CONTROLLER DESIGN and tracer; Thereby tracer detects the estimated signal of fault-signal, i.e. fault detection signal, simultaneously, controller output control signal realizes passive object is carried out to closed-loop control; The modeling error that the embodiment of the present invention has avoided the discretization modeling to bring; Consider fault message in the controller of design Active Fault Tolerant, also considered the needs of the accurate detection failure of tracer; More optimizedly, design dependency is in the Integrated design process of the tracer of the network control system of time lag and controller, called the cone complementarity linearization technology, solving of controller is converted into to a non-protruding optimization problem that is under the jurisdiction of LMI, relatively irrelevant with hysteresis, conservative reduces greatly.Therefore, the present embodiment has been realized fault detect, by closed-loop control, also has fault-tolerant control function.

Those of ordinary skills it is also understood that, realize that all or part of step in above-described embodiment method is to come the hardware that instruction is relevant to complete by program, described program can be in being stored in a computer read/write memory medium, described storage medium, comprise ROM/RAM, disk, CD etc.

Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For the general technical staff of the technical field of the invention; make without departing from the inventive concept of the premise some alternative or obvious modification that are equal to; and performance or purposes identical, all should be considered as belonging to the present invention's scope of patent protection definite by submitted to claims.

Claims (10)

1. the Detection & Controling method of a network control system, is characterized in that, described method comprises:

According to the continuous time model of controlled device, output signal is measured in the transducer collection;

The analog to digital converter described measurement output signal of sampling, obtain digitized measurement output signal;

Controller receives output signal, according to the network control model, processes described output signal, controlled signal, and described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag;

Tracer receives described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal;

Digital to analog converter is converted to digital control signal the control signal of simulation, the described control signal that the control signal of described numeral lags behind while transmitting for process;

Actuator, according to the control signal of described simulation, is controlled described controlled device work.

2. the method for claim 1, is characterized in that, described sampling time lag, described processing time lag, described transmission time lag meet Time-Delay model, and described Time-Delay model comprises:

${\mathrm{\&tau;}}_k^{\mathrm{sc}}\&GreaterEqual;{\mathrm{\&tau;}}_{m1},{\mathrm{\&tau;}}_k^{\mathrm{ca}}\&GreaterEqual;{\mathrm{\&tau;}}_{m2},(i_{k+1}-i_k)h+{\mathrm{\&tau;}}_{k+1}^{\mathrm{sc}}\&le;\mathrm{\&eta;},i_{k}h+{\mathrm{\&tau;}}_k\&le;i_{k+1}h+{\mathrm{\&tau;}}_{k+1}^{\mathrm{sc}};$

Wherein, described

for described sampling time lag, described

for described processing time lag, described

for described transmission time lag, described τ _kfor total time lag, described total time lag is described sampling time lag, described processing time lag and described transmission time lag sum, and described h is the sampling period, and described k is positive integer,

, described τ _m1, described τ _m2, described η is respectively given constant, and τ _m1>=0, τ _m2>=0, η>=0.

3. method as claimed in claim 2, is characterized in that, described continuous time model comprises:

y(t)＝C ₁x(t)，z(t)＝C ₂x(t)+D ₂u(t)，x(t ₀)＝x ₀,t ₀≥0；

Wherein, $\stackrel{\&CenterDot;}{x}\left(t\right)\&Element;R^n$ ，x(t)∈R ⁿ， $y\left(t\right)\&Element;R^{n_y},$ $u\left(t\right)\&Element;R^{n_u},$ $d\left(t\right)\&Element;R^{n_d},$ $f\left(t\right)\&Element;R^{n_f},$ X ₀∈ R ⁿ, described

for next system mode, described x (t) is current system mode, the control signal that described u (t) is described simulation, described y (t) is for measuring output signal, described d (t) is unknown input signal, described f (t) is fault-signal, and described d (t) and described f (t) all meet L ₂norm-bounded, x ₀for initial condition, described A, described B, described B _d, described B _f, described C ₁, described C ₂, described D ₂be respectively the known system parameters of network control system, t ₀for initial time, described t is the time.

4. method as claimed in claim 3, is characterized in that, described network control model comprises:

$\stackrel{\&CenterDot;}{\hat{x}}\left(t\right)=A\hat{x}\left(t\right)\mathrm{BK}\hat{x}(i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}})+H_1(y\left(i_{k}h\right)-C_1\hat{x}\left(t\right)),{v_i}_k=K\hat{x}(i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}});$

Wherein, described

for next state estimation, described

for current state estimation, described K is gain matrix to be designed, described H ₁for observation gain matrix to be designed, described for described control signal, described y (i _kh) be digitized measurement output signal, described

for the described sampling time lag of process

after current state estimation.

5. method as claimed in claim 4, it is characterized in that, tracer receives described output signal, control signal, according to Fault Model, processes described output signal, described control signal, before obtaining the step of fault detection signal, described method also comprises:

Tracer obtains the fault model of described network control system, and described fault model comprises:

$\stackrel{\&CenterDot;}{x_f}\left(t\right)=A_{\mathrm{wf}}{x}_f\left(t\right)+B_{\mathrm{wf}}f\left(t\right),r_f\left(t\right)=C_{\mathrm{wf}}{x}_f\left(t\right)+D_{\mathrm{wf}}f\left(t\right),x_f\left(t_0\right)=x_{f0},t_0\&GreaterEqual;0;$

Wherein, $\stackrel{\&CenterDot;}{x_f}\left(t\right)\&Element;R^{n_w},$ $x_f\left(t\right)\&Element;R^{n_w},$ $x_{f0}\&Element;R^{n_w},$ $r_f\left(t\right)\&Element;R^{n_w},$ Described

for next malfunction, described x _f(t) be current malfunction, described x _f0for initial malfunction, described A _wf, described B _wf, described C _wf, described D _wffor the system parameters matrix of tracer, described r _f(t) be the fault residual signal.

6. method as claimed in claim 5, is characterized in that, described Fault Model comprises:

$\stackrel{\&CenterDot;}{{\hat{x}}_f}\left(t\right)=A_{\mathrm{wf}}{\hat{x}}_f\left(t\right)+H_2(y\left(i_{k}h\right)-C_1\hat{x}\left(t\right)),r\left(t\right)=C_{\mathrm{wf}}{\hat{x}}_f\left(t\right),t\&Element;[i_{k}h+{\mathrm{\&tau;}}_k^{\mathrm{sc}},i_{k+1}h+{\mathrm{\&tau;}}_{k+1}^{\mathrm{sc}});$

Wherein, described

for next malfunction is estimated, described for current malfunction is estimated, described H ₂for detection gain matrix to be designed, described r (t) is fault detection signal.

7. method as claimed in claim 6, is characterized in that, described controller receives output signal, according to the network control model, processes described output signal, and the step of controlled signal also comprises:

In the situation that according to the fluctuation range of state estimation buggy model finite-state estimated bias, process described output signal, state estimation according to the network control model, obtain described observation gain matrix to be designed, with controlled signal, described state estimation buggy model is:

, wherein, described e (t) is the state estimation deviation.

8. method as claimed in claim 7, is characterized in that, described controller receives output signal, according to the network control model, processes described output signal, and the step of controlled signal also comprises:

In the situation that according to the fluctuation range of state estimation buggy model finite-state estimated bias, according to malfunction estimated bias model limit the malfunction estimated bias fluctuation range, limit the fluctuation range of Fault Estimation deviation according to Fault Estimation buggy model, process described output signal, state estimation according to the network control model, obtain described observation gain matrix to be designed, with controlled signal

Described malfunction estimated bias model is:

, wherein said e _f(t) be the malfunction estimated bias;

Described Fault Estimation buggy model is:

R _e(t)=r _f(t)-r (t), wherein said r _e(t) be the Fault Estimation deviation.

9. method as claimed in claim 6, is characterized in that, meeting H _∞under the condition of performance index model, set up the fault model of described network control system, described H _∞model is:

wherein, w (t)=[d ^t(t) f ^t(t)], described W _f(t) be stable weighting matrix, described γ>=0, described γ is constant, described d ^t(t) be the transposed matrix of d (t), described f ^t(t) be the transposed matrix of f (t).

One kind based on claim 1 system to the described method of claim 9, it is characterized in that, described system comprises:

Transducer, for the continuous time model according to controlled device, gather and measure output signal;

Analog to digital converter, for the described measurement output signal of sampling, obtain digitized measurement output signal;

Controller, for receiving output signal, process described output signal according to the network control model, controlled signal, and described output signal is the described digitized measurement output signal after the over-sampling time lag, described network control model comprises the processing time lag;

Tracer, for obtaining the fault model of described network control system, receive described output signal, control signal, according to Fault Model, processes described output signal, described control signal, obtains fault detection signal;

Digital to analog converter, be converted to the control signal of simulation for the control signal by digital, the described control signal that the control signal of described numeral lags behind for through transmission the time;

Actuator, for the control signal according to described simulation, control described controlled device work.

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