This text explains the concepts of supervisory control and discrete event systems, and the background material on general Petri net theory necessary for using the book’s control techniques is provided. A large number of examples is used to illustrate the concepts and techniques presented in the text, and there are references for those interested in additional study or more information on a particular topic. The text is intended for graduate students, advanced undergraduates, and practicing engineers who are interested in the control problems of manufacturing, communication and computer networks, chemical process plants, and other high-level control applications. The text is written from an engineering perspective, but it is also appropriate for students of computer science, applied mathematics, or economics. The book contains enough background material to stand alone as an introduction to supervisory control with Petri nets, but it may also be used as a supplemental text in a course on discrete event systems or intelligent autonomous control.