Trace-DC hierarchical supervisory control with applications to transfer-lines

We present a hierarchical control theory for supervisory automata based on state aggregation. Conditions are determined on state partitions which ensure that the control of transitions between blocks in a high level (i.e. aggregated) model, combined with local state dependent controls, is effective in the sense of achieving specifications given either for the high level model or for the low level system. We show this hierarchical supervision satisfies the consistency conditions in the existing language-based hierarchical supervisory control theory.