Optimized petri net-based control design for robotic flexible manufacturing systems using integer linear programming

Discrete Event Systems can be modeled using Petri Net models. To ensure these systems operate within desired constraints and avoid unsafe or deadlock conditions—commonly referred to as forbidden states—various control strategies have been developed over the past decades. These strategies involve designing and connecting control places to the system. However, in large systems, this may lead to a significant number of control places, increasing model complexity and reducing scalability. In this paper, a method is proposed to design a controller with a smaller number of control places by solving an Integer Linear Programming problem for each critical state. The resulting controller remains maximally permissive while significantly reducing the number of control places compared to existing methods.