The diagnosis of dynamical systems for detection, isolation and estimation of faults is a fundamental topic in the safety and economy of industrial plants. 

The main objective is to guarantee good performances of the control system even in presence of faults. This is obtained by the design of dynamical filters that, monitoring inputs and outputs of the systems, detect the fault so to isolate the part of the system that is not working correctly. A key point is the so called early detection in order to avoid damages in the system. A related topic is how to design control systems that automatically reconfigure themselves when a fault occurs in order to preserve some suitable control objectives (fault tolerant control).
Considering a collaborative distributed multi-agent systems, a misbehaving node exposes the whole group to an unpredictable evolution, this condition may not be acceptable for safety reasons or mission goal detriment independently of the nature of the misbehavior itself.