Text this: Hierarchical control of discrete-event systems : a new command and control design based on feasible system decomposition

  _____     ______   _    _    _    _             
 /  ___||  /_   _// | \  / || | || | ||   ____    
| // __     -| ||-  |  \/  || | || | ||  |    \\  
| \\_\ ||   _| ||_  | .  . || | \\_/ ||  | [] ||  
 \____//   /_____// |_|\/|_||  \____//   |  __//  
  `---`    `-----`  `-`  `-`    `---`    |_|`-`   
                                         `-`