Supervisory control of a manufacturing system using Petri net structures

The paper presents an example in which supervisory control, a logical theory for the control of discrete event systems, is applied to a manufacturing system. The plant is represented as a marked graph Petri net with control safe places. The specification is expressed as a generalized mutual exclusion constraint. Three different net supervisors that can enforce such a constraint are discussed. Two are fully compiled, i.e., the corresponding supervisor is represented by a place/transition net. A third one is partially compiled, i.e., it is given as an interpreted net in which the firing of some transitions not only depends on the marking of the net but on the value of suitable predicates as well