The increasing complexity and certification needs of cyber-physical systems (CPS) requires improved methods of dependability analysis. Fault injection (FI) is an experimental-based way for safety analysis of a system which is mainly divided in model-based, software-based and hardware-based techniques. For safety analysis during model-based development, FI mechanisms can be added directly into models of hardware, models of software and/or models of the system. This approach is denoted as

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... plemented hybrid FI. The availability of a modelling environment such as Simulink allows for early stage verification of FI experiments to analyze the correct behavior of the system-under-design. This results in a reduced time and cost by testing at early stages of the development process. This paper presents an automated framework to inject faults in the Simulink model. The framework is not only limited to injection at the model-in-the-loop (MiL) level but is also applicable at other approximation levels in model-based testing such as hardware-in-the-loop (HiL). The modeler instruments the model with FI blocks to specify which faults need to be injected and when they should be injected. This model is converted to a fault-injected model and a FI orchestrator that allows the FI experiment to run automatically. The framework is completely build upon the generative technique of model transformation, allowing it to be ported to other formalisms and tool environments.