The application of Petrinets is one of the well-known approaches for developing provably error-free control software for manufacturing systems. To evaluate the practicability of available methods and tools for at least medium-sized systems, a case study has been performed to develop modularised control software of a production cell with hierarchical Petri nets, supporting reuse as well as stepwise validation.
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Heiner, M., Deussen, P. & Spranger, J. A Case Study in Design and Verification of Manufacturing System Control Software with Hierarchical Petri Nets. Int J Adv Manuf Technol 15, 139–152 (1999). https://doi.org/10.1007/s001700050051
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DOI: https://doi.org/10.1007/s001700050051