\begin{algorithm}[!h]
\DontPrintSemicolon
\KwIn{I$^2$-DES model G}
\KwOut{I$^2$-DES Diagnoser}
Partition $ X_0 $ into equivalent subsets $ X_{01},  X_{02},  \ldots,
X_{0m} $ \;
\For{all $ i $,  $ 1 \leq i \leq m $ }
{
$ z_{0i}  =  {\cal U}^*(X_{0i}) $\;
}
$Z_0 \leftarrow z_{01} \cup \cdots \cup z_{0m} $ \;
$Z \leftarrow Z_0$  \;
$A \leftarrow \phi$ \;

\For{all $z \in Z$ }
{
	\small
\tcc*[f]{ Find the set of measurable $G$-transitions
($\Im_{mz}$)
outgoing from $z$}\;
\normalsize
$ \Im _{mz} \leftarrow \{ \tau |\tau \in \Im _m \wedge initial(\tau
)
\in
z\}$\;

\small
\tcc*[f]{ Find the set of all measurement equivalent classes
$A_z$,  of $\Im_{mz}$}\;
\normalsize
\For{all $ a \in A_z$}
{
$z_a^+  =  \{final(\tau)| \tau \in a \}$\;
$z^+  =  {\cal{U}}^*(z_a^+)$\;
$Z  =  Z \cup \{z^+\}$\;
$A  =  A \cup \{a\}$\;
}
}


\caption{Algorithm for construction of diagnoser $O$ for an I$^2$-DES model $G$}
\label{alg:diag_alg_asmitm}
\end{algorithm}