Supervisory control of nondeterministic systems under partial observation

In this paper we extend our earlier work on supervisory control of nondeterministic discrete event systems (DES) using prioritized synchronization as the control mechanism and trajectory model as the modeling formalism by considering design of supervisors under partial observation. We introduce the notion of observation-compatible systems and show that prioritized synchronous composition of observation-compatible systems can be used as a mechanism of control of nondeterministic systems under partial observation in presence of driven events. Conditions for the existence of a supervisor in the above setting are obtained. Although these conditions are similar to the standard conditions of controllability and observability found in literature, they are significantly different, as they depend on the trajectory model of the plant as opposed to its language model