Synthesis of hierarchical procedural controllers

Introduces hierarchical procedural control theory. It builds on the properties of decomposition theory to provide a mechanism to tackle large scale problems in synthesising sequential controllers for discrete-event batch operations. The generic behaviour of all the controllers is modelled as a finite state machine, enabling them to be combined and operated in series and parallel by other sequential controllers in a hierarchical structure. An application to a clean in place process in a batch pilot plant is shown.