Perhaps have a look at Koopman https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_... and Barr http://www.safetyresearch.net/Library/BarrSlides_FINAL_SCRUB...
Perhaps have a look at Koopman https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_... and Barr http://www.safetyresearch.net/Library/BarrSlides_FINAL_SCRUB...