This is other way to say "measure ripple voltage", at given load/current. Power bus ripple peak detector does not sound like bad idea for hi-end devices, nor it would be complicated circuit. One needs AC decoupling, rectifier diode, lowpass RC filter and comparator or ADC and means of reporting problem.
Actually any properly designed motor drive already measures the DC link voltage for various reasons: control algorithm feedforward, to stop regenerating and let the motor freewheel if DC link voltage rises above maximum...
So really the only thing to do is to make sure the existing measurement circuit has enough bandwidth - maybe by reducing the amount of RC filtration, and increasing sample rate in software. If you sample twice per output stage PWM cycle, you have enough data already to calculate ESR on the fly: you know all dV, dI and dt.
This may be
zero hardware cost and not very complex on the software side, too. The biggest hurdle is to decide how to report and handle the error. And, avoiding false positives. For example, cold capacitors have higher ESR, but this isn't a serious problem because the capacitors will self-heat so the ESR lowers back to normal range.
wraper has a point though, even if you monitor the trivial motor controller DC link, the big picture will have dozens of power supplies with dozens of DC links that are not trivial to monitor. By Murphy's law, everything else fails except your fancy monitored motor drive DC link. This is unsurprising: often the small elcap in an auxiliary supply fails first, maybe because the designer didn't think that supply is critical.