fax: + (44 902) 322 680; phone:+(.)322 716 School of Chemical Engineering, CE Lab., University of Bradford Richmond Rd., Bradford BD7 lDP, UK, fax: +(44 274) 733 466; phone: +(44 422)83 1923 Abstract -A methodology of studying and designing scheduling control algorithms and Petri-net supervisor implementing them for robotised F M S has been developed. It is of analytic-simulation type, the analytic part using Petri-net modelling and the simulation part making using animation. It makes visually tangible the F M S processes and reveals inconsistency or error in the derived scheduling control algorithms. INTRODUCTION In spite of considerable theoretical advances in modelling and control of discrete-event dynamic systems PEDS) including the problem of stabilising compensator, e.g. queuing networks [l], Petri's networks [2]-[3], operational analysis [4], Ho's state analysis [5], real-world implementable solutions are sought through an iterative analytic-simulation

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