关键词: 网络控制系统, 故障检测, 切换系统, 长时延, 丢包

Abstract: Fault detection of a class of networked control systems with asynchronous sampling clock and transmited data dropout is studied.Based on the fixed rate of the data packet dropout and the time-delay more than one sampling period and the conditions of data arrival of actuator，the state observers of system is designed，which is modeled as an asynchronous dynamic system with rate constraints on events，then the exponential stability condition of the observer system is given.When a fault occurs，the observer residue can change rapidly to detect the fault.A numerical example shows the effectiveness of the proposed method.

Key words: networked control systems, fault detection, swiched system, long time-delay, packet dropout