Controller synthesis for object Petri nets

A large class of real-world systems can be modelled as Petri nets, and complex systems are more conveniently modelled as object Petri nets. Ensuring that Petri net models avoid forbidden states has attracted much research effort. The work presented addresses the forbidden state problem for object Petri nets, through a method for controller synthesis. A simple illustrative example is given as well as an illustration in a flexible manufacturing system. The concept of place invariants plays an important role in Petri net theory. For the first time, place invariants are defined for object Petri nets.