I. Introduction
Engineered systems often have two or more performance characteristics (PCs) related to various output requirements. In practice, the systems are inevitably affected by environmental factors driving PCs degradation [1], and the systems will fail when any of their PCs exceeds the corresponding preset failure threshold [2]. Since the PCs of an engineered system originate from the same system composition operating under given profiles, their degradation generally follows dependent processes [3], [4]. Therefore, the system reliability analysis should be based on a multivariable degradation model made of two key factors: marginal degradation models to trace each PC degradation process and a dependence structure (DS) to describe the dependence among the degradation processes of the multiple PCs. This study focuses on systems with two PCs, as they are extensively used in practical engineering [4], [5], and their reliability analysis forms the foundation for the reliability assessment of systems with multiple PCs [6], [7].