A direct approach to robust supervisory control of discrete-event systems

The robust nonblocking supervisory control problem (RNSCP) is studied in which the plant model belongs to a family of models. We develop a direct solution to RNSCP, based on a notion of consistency, which is more transparent than the indirect method in the literature. As an illustrative example, we have used our direct method to solve a supervisory control problem with multiple markings in which the plant under supervision is required to be nonblocking with respect to multiple sets of marked states, each corresponding to the completion of a different task.