Think globally, act locally: decentralized supervisory control
Karen Rudie, Walter Murray Wonham · IEEE Transactions on Automatic Control · 1992
Decentralized supervisory control is investigated by considering problem formulations that model systems whose specifications are given as global constraints, but whose solution is described by local controllers. A necessary and sufficient condition is given for the existence of a solution to the problem of finding decentralized supervisors that ensure that the behavior of the closed-loop system lies in a given range. Where the range of behavior can be described by regular languages, it can be effectively tested whether the decentralized control problem is solvable; in this case, a procedure is given to compute the associated supervisors.>