A condition system is a distributed Petri Net where model to model communication is done via state-based signals called conditions. In this paper, the application of the authors’ research in controller synthesis techniques using condition systems is presented. First, an overall perspective is presented. Next, the focus is on the major components used in this approach. Namely these are: the plant models of the unconstrained open-loop system to be controlled; the synthesized observer models that provide state estimation; the synthesized controller models that provide closed-loop control; and failure detection, diagnosis and reconfiguration. A simple robotic arm is used for an example. The paper concludes with a brief overview of the new version of the software tool developed by the authors for use in this research.
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