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While providing significant benefits to vehicle operation and emissions, on board diagnosis comes at a cost. In many cases the additional cost comes in the form of reduced optimal performance. Often the additional cost can be mitigated by considering the OBD requirements early in the development stages. In this presentation we show these trade-offs in a number of case studies. We will point out where the ability to diagnose comes at the cost of suboptimal performance, and where system design decisions can facilate the OBD task. Presenter Michiel Van Nieuwstadt, Ford Motor Co.