Abstract
This paper present the structure, behaviour and basic trends of Programmable Logic Controllers (PLCs), a class of special purpose real-time control computers. Among their main trends, intelligence decentralization (smart I/O modules and local area networks interconnection), increased system reliability (in particular self-diagnosis and fault tolerance) and additional functional capabilities (PID, file management, ...) are always present. Fault avoidance needs a specification formalism to be able to carry out proofs on the specification/implementation.
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