Modular supervisory control and coordination of state tree structures

Optimal nonblocking modular supervisory control of discrete-event systems is developed using state tree structures to manage state explosion. The total specification of the system to be controlled is decomposed into several sub-specifications, and a separate optimal (maximally permissive) nonblocking supervisor designed for each. Under an additional global nonblocking condition we directly obtain an optimal nonblocking modular state feedback control for the full system. If that condition fails, i.e. the modular controlled system is blocking, an additional coordinator is adjoined which renders the global controlled behaviour, both nonblocking and optimal.