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The purpose of this paper is to propose a simple design method for fault detection and isolation (FDI) based on model inversion and low-pass filters. Motivated by practical situations, a tradeoff between desired fast responses of fault indicating signals and robustness in the presence of disturbances is considered. We point out plain frequency design rules and basic limitations of residual generation. Computations of inverse models are easy to implement by means of a symbolic algebraic language. Several illustrative examples show the performance of the proposed FDI scheme.