网络传输时延和丢包是网络化控制系统中影响系统性能的主要因素。网络传输时延和丢包一般是随机的，因此，网络化控制系统的故障诊断与容错控制在随机系统框架下研究更合理。目前对随机时延的假设非常严格。本项目对考虑随机时延的非线性网络化控制系统进行基于拉普拉斯变换的模型等效变换，使模型等效变换后的网络化控制系统不显含时延；对等效变换后的非线性随机系统进行主动故障检测研究，设计合适的辅助信号，激励系统显现出系统潜在的故障；对等效变换后的非线性随机网络化控制系统进行最小残差熵的故障诊断与最小跟踪误差熵的容错控制；对考虑随机丢包的非线性随机网络化控制系统进行基于丢包补偿的主动容错控制研究。.在理论方面，对考虑随机时延和随机丢包的非线性随机网络化控制系统的主动容错控制拟建立新的研究框架。所提出的考虑随机时延及随机丢包的算法将在网络化电机控制系统和网络化机器人控制系统上进行可行性应用验证。

The transmission delay and packet loss is the main factor affecting the performance of networked control systems. The network transmission delay and data dropout is generally uncertain and stochastic. It is reasonable for the researchers to carry out the research of fault diagnosis and fault tolerant control under the framework of stochastic systems. It is very strict for the assumption of the network transmission delay. In this project, based on the Laplace transformation, the model equivalent transformation is carried out for nonlinear stochastic networked control systems with stochastic delay. After the model transformation in the nonlinear stochastic networked control system, the stochastic delay is not explicit. Active fault detection is carried out for the transformed stochastic networked control system. The suitable auxiliary signal is designed to stimulate the system to show up the potential failure. After the active fault detection, the minimum residual entropy fault diagnosis and the minimum tracking error entropy fault tolerant control is studied for the nonlinear stochastic networked control system.. Theoretically, the new research framework will be established for the active fault tolerant control of nonlinear stochastic networked control systems with stochastic delay and stochastic date dropout. The algorithm for nonlinear stochastic networked control systems with stochastic delay and stochastic data dropout of this project will be verified in the networked motor control system and the networked robot control system.