Optimal control design for DES using supervisory control theory with enforceable events

An approach to the model-based synthesis of cost optimal controllers for discrete event systems is presented. Therefore, the original framework of the Supervisory Control Theory is extended to consider enforceable events. We prove that in this case a supremal controllable sublanguage exists and present an algorithm for its computation. A further algorithm is given to compute the cost optimal controllable behaviour based on acyclic or cyclic automata, e.g. the automaton representing the supervisor. It is shown how PLC code can be generated automatically from the automaton representing the controlled system behaviour. An application example is provided.