Abstract
Supervisory control in manufacturing systems is achieved through messages between the supervisory controller and processing devices. This paper presents a message-oriented model for supervisory control. The model supports realistic states for processing stations and some material handling devices. The major characteristics of the model are the decomposition of the system into small state models for components that cooperate via messaging as well as the algebraic manipulation for state progression. This paper also presents a definition of controllability meaningful in the design and analysis of supervisory control systems. The modeling and analysis are illustrated with a flow line example and a robotic cell example.
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