Olivier Contant Stéphane Lafortune Demosthenis Teneketzis Diagnosability of Discrete Event Systems with Modular Structure. 9-37 2006 16 Discrete Event Dynamic Systems 1 http://dx.doi.org/10.1007/s10626-006-6177-5 db/journals/deds/deds16.html#ContantLT06