“…There are also several survey papers, of which we mention Isermann and Balle (1997), Isermann (1997) and Gertler (1997). The approaches to design suitable residuals are: parity space design (Chow and Willsky, 1984;Ding et al, 1999;Gertler, 1997), unknown input observer (Hong et al, 1997;Hou and Patton, 1998;Wang and Daley, 1996;Wunnenberg, 1990;Yang and Saif, 1998) and in the frequency domain (Frank and Ding, 199413;Sauter and Hamelin, 1999). A completely different approach is based on reasoning and computer science, and examples here are A r z h (1996), Blanke et al (1997), Larsson (1994) and Larsson (1999).…”