Supervisory control based on Petri Nets (PNs) or Colored Petri Nets (CPN) model of the plant leads to supervisors which can be PN/CPN themselves (compiled supervisors) or simply a set of logical predicates (interpreted supervisors). PNetLab is a simulation and analysis tool developed by the Automatic Control Group of the University of Salerno. It allows drawing of a PN/CPN model by a graphical user interface and the definition of the supervisor as a PN/CPN or as a standard C/C++ program implementing logical predicates. Functionalities to analyze the closed-loop model with all kind of supervisors (PN/CPN/logical predicates) are available (token game and coverability tree) as well as standard functionalities when both the plant and the controller are PNs (P-invariants, T-invariants, minimal siphons and traps computation). It also includes management of time (plant modelled by timed PNs/CPNs) and conflict management so as to permit testing of scheduling strategies together with the supervisor as required in performance optimization problems. Finally, the tool's simulation engine can be linked from an external program allowing look-ahead supervisory techniques.
At this link, you can download the files related to the paper "Automated generation of a simulation model for the decentralized control of automated warehouse systems". An automated model generation algorithm is implemented to obtain a Colored Modified Hybrid Petri Net model used to test optimization procedures in automated warehouse systems. More specifically, such a model permits an immediate the evaluation of centralized/decentralized algorithms for the Interface Systems of automated warehouses.