Implement a tion of local modular supervisory control for a pneumatic system using PLC

In this study, we implement a controller, based on Supervisory Control Theory on a pneumatic assembly system. We use local modular approach, which exploits modular structure of the plant and the specifications. An implementation methodology using a hierarchical control structure where PLCs are utilized is introduced. Local modular approach, together with the implementation methodology presented in this study provides an effective way for synthesizing and realizing supervisors for DES control problems. The resulting PLC program is also modular in structure, making it easy to modify and detect errors.