Text this: Networked supervisory control with imperfect communication channels

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