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Misfire is generally defined as be no or partial combustion during the power stroke of internal combustion engine. Because a misfired engine will dramatically increase the exhaust emission and potentially cause permanent damage to the catalytic converters, California Air Resources Board (CARB), as well as most of other countries’ on-board diagnostic regulations mandates the detection of misfire. Currently almost all the OEMs utilize crankshaft position sensors as the main input to their misfire detection algorithm. The detailed detection approaches vary among different manufacturers. For example, some chooses the crankshaft angular velocity calculated from the raw output of the crankshaft positon sensor as the measurement to distinguish misfires from normal firing events, while others use crankshaft angular acceleration or the associated torque index derived from the crankshaft position sensor readings as the measurement of misfire detection.