Part I Basics of Fault Diagnosis -- 1 Introduction -- 2 Modelling Systems with Faults -- 3 Fault Diagnosis -- 4 Model Detection -- Part II Synthesis of Residual Generators -- 5 Synthesis of Fault Detection and Isolation Filters -- 6 Synthesis of Model Detection Filters -- 7 Computational Issues -- 8 Case Studies -- Part III Background Material -- 9 System Theoretical Concepts -- 10 Computational Algorithms and Software -- A Introduction to Julia Language and Packages -- References -- Index.