Multivariate nonlinear autoregression for outlier detection

Methods, systems, and computer-readable storage media for receiving a time-series of data values associated with a plurality of sensors, each sensor generating at least a portion of the time-series of a respective data value, providing a plurality of auto-regression models, each auto-regression model being provided based on a respective first sub-set of the time-series of data values used as input, and a respective second sub-set of the time-series of data values used as training data during a training process, receiving respective data values associated with a time from and generated by each of the plurality of sensors, determining respective predicted values for each of the auto-regression models, and selectively indicating that an anomaly is present in the system based on respective predicted values for each of the auto-regression models, and the respective data values associated with a time.