When we talk about "security" in IoT. The important element to condiser are:
1-security of the THINGS, connectted objects.
2-security of the communication (commnication between things and/or things to cloud).
3- security of the cloud (where we stock our data).
These 3 elements must be secured againt all kind of attacks not only "instursions".
Now, in my opinion, the connected object cannot be doted with and IDS because of their low energy (using batteries). You must think to make your IDS in place having a continious source of enegy, while it controls your IoT system
Taxonomy is a big word for the IoT IDS . Please refer to the comprehensive papers for IoT -IDS. And you may consider which type of IDS you need to apply over your expected proposed method