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A geometric interpretation of the concept of analytical redundancy leads to computationally simple procedures, involving singular value decompositions, Jor determining redundancy relations that are maximally insensitive to model uncertainties. Al~traet--All failure detection methods are based, either explicitly or implicitly, on the use of redundancy, i.e. on (possibly dynamic) relations among the measured variables. The robustness of the failure detection process consequently depends to adoi:10.21236/ada459971 fatcat:syghxp55azcf7bvnkl442y63ee