“…The working principle and the positioning of these sensors in the exhaust pipe imply that they are subject to input-dependent time delays and inputdependent linear parameters as shown in Moser, Onder, and Guzzella (2013), Brück (2010), Klett et al (2005) and experimentally investigated in this paper. Due to drift, clogging, aging and manipulation the input-dependent time delays and linear parameters can be subject to variation during the lifetime of the sensor.…”