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   _____     ___       _____   __   __            
  / ___//   / _ \\    / ___//  \ \\/ //   ____    
  \___ \\  | / \ ||   \___ \\   \ ` //   |    \\  
  /    //  | \_/ ||   /    //    | ||    | [] ||  
 /____//    \___//   /____//     |_||    |  __//  
`-----`     `---`   `-----`      `-`'    |_|`-`   
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Text this: Hierarchical control of discrete-event systems : a new command and control design based on feasible system decomposition