The problem of fault detection for Lipschitz nonlinear networked control systems with random packets loss
when there exists external interference is concerned in the paper. Because of the limited bandwidth of the channels, such
random packets loss can occur, simultaneously, in the communication channels from the sensor to the controller and from
the controller to the actuator. An observer-based fault detection filter is then designed. A sufficient condition is also derived,
which makes the error systems exponentially mean-square stable and achieve the prescribed H∞ disturbance-rejection-
attenuation level. In addition, the scheme of fault detection is obtained by using the mean squares of the residual. Simulation
example illustrates the effectiveness of the proposed approach.