This paper examines the benefits of incorporating vehicle dynamics modeling into the design of a diagnostic system for a steer-by-wire vehicle. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses, by eliminating a significant source of disturbance input to the steer-by-wire system model. A method for reducing the effects of modeling uncertainty on diagnostic system performance based on spectral fault charac-teristics is also presented. The techniques discussed are demonstrated on an experimental steer-by-wire vehicle
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