1. Introduction. - 2. Petri Nets. - 2. 1 Petri Net Definitions. - 2. 2 Structural Invariants. - 2. 3 Siphons and Traps. - 2. 4 Classes of Petri Nets. - 2. 5 Petri Nets and Automata. - 2. 6 Petri Nets in Control. - 3. Invariant Based Control Design. - 3. 1 Monitor Based Supervisors. - 3. 2 Supervisor Synthesis using Place Invariants. - 3. 3 Maximally Permissive Supervision. - 4. Uncontrollable and Unobservable Transitions. - 4. 1 Uncontrollable Transitions. - 4. 2 Unobservable Transitions. - 4. 3 Constraint Transformations. - 4. 4 Vector Discrete Event Systems. - 4. 5 Petri Net Modeled Supervisors. - 5. Constraint Transformation and Controller Synthesis. - 5. 1 Computing Constraint Transformations. - 5. 2 Structure of Admissible Constraints and Controls. - 5. 3 Admissible Constraints and Controller Synthesis. - 5. 4 Enforcing Disjunctions of Linear Constraints. - 6. Resource Management and Deadlock Avoidance. - 6. 1 Modeling of Finite Resources. - 6. 2 Conditions for Liveness. - 6. 3 Deadlock Avoidance. - 7. Other Control Specifications. - 7. 1 Equality Constraints. - 7. 2 Constraints involving the Firing Vector. - 7. 3 Logical Constraints on System Behavior. - 7. 4 Constraints Involving Time. - 7. 5 Limits of the Constraint Inequality. - 8. Example Applications. - 8. 1 The Cat and Mouse Problem. - 8. 2 Automated Guided Vehicle Coordination. - 8. 3 The Unreliable Machine. - 8. 4 Piston Rod Robotic Assembly Cell. - 8. 5 Asynchronous Transfer Mode Switch. - 8. 6 The Three Tanks Problem. - 8. 7 Hybrid Control System Example. - 9. Summary and Conclusions. - References. - List of Symbols. - About the Authors. Language: English