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A design approach is proposed for the efficient specification and realization of dynamic system monitoring components based on a unified system component model. Starting form the formal specification of the component under monitoring and a generic monitoring model, runtime executable monitor components are constructed in a straightforward way. Hybrid continuous-discrete system descriptions and a state estimator with Modified Particle Petri Nets are utilized in order to cover many computer controlled systems. The design approach is demonstrated on a heating control system, which serves as a standard process control example. System implementation and experimental results demonstrate the high potential of the method.