Abstract: In this paper we describe our 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. We augment the theory by also allowing continuous time trajectories modeling transitions between events. We illustrate our 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.

Notes: Appeared in IEEE Proceedings of the Fourth International Conference on Computer Integrated Manufacturing and Automation Technology, Troy, NY, Oct. 1994