“…This means that recovery must have been initiated before ¼ ¼¾ s after occurrence of the error. 5 For a fault that manifests as a step with magnitude Ñ on state Þ occurring at time Ø ¼, i.e., Þ Ñ ´ µ, the effect on the process output will be described by Ý´ µ Using this equation we can find the first sample (if any), , at which the requirements are no longer fulfilled, that is, the time within which the system needs to be recovered to avoid system failures. 6 For an error occurring in the most significant bit (i.e., with magnitude ¾ ¿½ ¡ ¾ ¾¿ ¾ ), the control error will be (due to the linearity): ¼ ¼ ¿ ¡ ¾ ½¾ , i.e., much higher.…”