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A supervisory controller controls and coordinates the behavior of different components of a complex machine by observing their discrete behaviour. Supervisory control theory studies automated synthesis of controller models, known as supervisors, based on formal models of the machine components and a formalization of the requirements. Subsequently, code generation can be used to implement this supervisor in software, on a PLC, or embedded microprocessor. In this article, we take a closer look at the control loop that couples the supervisory controller and the machine. We model both event-based and state-based observations using process algebra and bisimulation-based semantics. The main application area of supervisory control that we consider is coordination, referred to as supervisory coordination, and we give an academic and an industrial example, discussing the process-theoretic concepts employed

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Abstract. The engineering of supervisory controllers for large and complex cyber-physical systems requires dedicated engineering support. The Compositional Interchange Format language and toolset have been developed for this purpose. We highlight a model-based engineering framework for the engineering of supervisory controllers and explain how the CIF language and accompanying tools can be used for typical activities in that framework such as modeling, supervisory control synthesis, simulationbased validation, verification, and visualization, real-time testing, and code generation. We mention a number of case studies for which this approach was used in the recent past. We discuss future developments on the level of language and tools as well as research results that may be integrated in the longer term.