考虑一类时延网络控制系统,提出了一种具有时延补偿功能的卡尔曼滤波器设计方法,并对系统进行状态估计。通过对系统时延特性的研究,采用变分法推导出了时延网络控制系统的离散时间卡尔曼滤波公式,给出了具体的最优线性递推滤波算法。并且在对系统进行故障检测方面,提出了一种新的组合式χ2检验法。最后通过仿真实例验证了所设计的卡尔曼滤波器与组合式χ2检验法的有效性。 Considering a kind of time-delay network control system, a method of designing Kalman filter with time-delay compensation is proposed, and the state of the system is estimated. Through the research of the system time delay characteristic, the discrete-time Kalman filter formula of the time-delay network control system is deduced by variational method, and the specific optimal linear recursive filtering algorithm is given. And in the fault detection of the system, a new combinatorial χ2 test is proposed. Finally, the simulation examples verify the design of the Kalman filter and the combined χ2 test the effectiveness of.