This comprehensive work presents the status and likely development of fault diagnosis, which has become an emerging discipline of modern control engineering. It covers the fundamentals of model-based fault diagnosis in a wide context relevant to industrial engineers and scientists as well as academics pursuing the reliability and fault detection issues of safety-critical industrial processes. The wide scope of the book provides graduate and postgraduate students of control and mechanical engineering or system sciences with a good introduction to the theoretical foundation and many basic approaches of fault detection, while providing useful bibliographical information. It is a valuable reference book and practical help for industrial control engineers who are in charge of the improvement and safety of the technical control systems, condition-based maintenance and repair, or of the design of fault tolerant control systems.