Summary: The need for accurate and timely diagnosis of system failures and the advantages of automated diagnostic systems are well appreciated. However, diagnosability considerations are often not explicitly taken into account in the system design. In particular, design of the controller and that of the diagnostic subsystem are decoupled, and this may significantly affect the diagnosability properties of a system. In this paper the authors present an integrated approach to control and diagnosis. More specifically, they present an approach for the design of diagnosable systems by appropriate design of the system controller. This problem, which they refer to as the active diagnosis problem, is studied in the framework of discrete-event systems (DESs); it is based on prior and new results on the theory of diagnosis for DESs and on existing results in supervisory control under partial observations. They formulate the active diagnosis problem as a supervisory control problem where the legal language is an ``appropriate'' regular sublanguage of the regular language generated by the system. They present an iterative procedure for determining the supremal controllable, observable, and diagnosable sublanguage of the legal language and for obtaining the supervisor that synthesizes this language. This procedure provides both a controller that ensures diagnosability of the closed-loop system and a diagnoser for online failure diagnosis. The procedure can be implemented using finite-state machines and is guaranteed to, converge in a finite number of iterations. The authors illustrate their approach using a simple pump-valve system.