Richard Saeks Alberto L. Sangiovanni-Vincentelli V. Visvanathan Diagnosability of Nonlinear Circuits and Systems - Part II: Dynamical Systems. 899-904 1981 30 IEEE Trans. Computers 11 db/journals/tc/tc30.html#SaeksSV81 http://doi.ieeecomputersociety.org/10.1109/TC.1981.1675721