Text this: Networked supervisory control with imperfect communication channels

 _____       ___     _    _     _____     ______  
|  __ \\    / _ \\  | || | ||  |  ___||  /_____// 
| |  \ ||  / //\ \\ | || | ||  | ||__    `____ `  
| |__/ || |  ___  ||| \\_/ ||  | ||__    /___//   
|_____//  |_||  |_|| \____//   |_____||  `__ `    
 -----`   `-`   `-`   `---`    `-----`   /_//     
                                         `-`