Abstract
Modular supervisory control of discrete-event systems based on state tree structures(STS)is studied.The plant is modeled as a state tree structure and the specification is given as a predicate.Assuming this specification can be decomposed into the conjunction of subspecifications,we synthesize optimal nonblocking sub-supervisor for each subspecification.The behavior of the plant under the control of these sub-supervisors meets the requirements of the specification and is nonblocking and optimal.We determine conditions under which it is possible to synthesize the optimal control in a modular fashion.When the closed-loop system is blocking,we introduce a coordinator to solve it and give the method of synthesizing the coordinator.
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