Anomaly Detection for Networked Motion Contro Systems Using Finite -Time EID Approach

This work deals with the anomaly detection problem of networked motion control systems (NMCSs), and a finitetime equivalent -input -disturbance (FTEID) approach is proposed. First, both functional safely threats and cyber security threats are considered of the NiVICS, and their overall effects are modeled to be a combined unknown signal. Then, an EID model is established of the system to implement the anomaly detection. A terminal-sliding-mode observer is introduced to construct the FTEID, thereby achieving a better anomalydetection performance. In addition, the analysis of the system is straightforward. Finally, simulation experiment is carried out to verify the effectiveness of this study.