Automatic synthesis algorithms for supervisory controllers

Describes the authors´ experience with a prototype system capable of synthesizing supervisor controller programs based largely on the theory of discrete event systems (DES) first proposed by Ramadge and Wonham (1987). The authors augment the theory by also allowing continuous time trajectories modeling transitions between events. The authors illustrate their approach by an example, the discrete control of a walking machine, which poses some challenges on the applicability of the theory and finally, discuss some possible solutions