The present research describes a novel adaptive anomaly detection method to optimize the performance of nonlinear and time-varying systems. The proposal integrates a centroid-based approach with the real-time identification technique Recursive Least Squares. In order to find anomalies, the approach compares the present system dynamics with the average (centroid) of the dynamics found in earlier states for a given setpoint. The system labels the dynamics difference as an anomaly if it rises over a determinate threshold. To validate the proposal, two (...) different datasets obtained from a level control plant operation have been used, to which anomalies have been artificially added. The results shown have determined a satisfactory performance of the method, especially in those processes with low noise. (shrink)