  In literature, extensive research has been done with respect to synthesis of
supervisory controllers. Such synthesized supervisors can be distributed for
implementation on multiple physical controllers. This paper discusses a method
for distributing a synthesized supervisory controller. In this method,
dependency structure matrices are used to distribute a system, the supervisor
is then distributed accordingly, using existing localization theory. The
existence of communication delays between supervisory controllers is
unavoidable in a distributed application. The influence of these delays on the
behavior of a supervisor is therefore studied using delay robustness theory.
This paper introduces the use of mutex algorithms to make the distributed
supervisor delay-robust. A case study is used to demonstrate the method and
hardware in the loop testing is used to validate the resulting distributed
supervisor.
