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The problem of fault detection for networked control systems with time-delay is investigated. Attention is focused on the design of fault detection filter based on states observer, which guarantees a pre-specified Hinfin performance for the closed-loop system with respect to all energy-bounded input signals. Using LMI and Lyapunov function technology, sufficient conditions for existence of such filter is established in terms of linear matrix inequalities, upon which the design of admissible filter is cast into a convex optimization problem. The proposed approach can be further extended to uncertain networked control systems. The simulation results demonstrate that the method is effective and robust.