Introduction -- Preliminaries of Supervisory Control Theory -- Real-Time Scheduling and Reconfiguration -- Non-Preemptive Scheduling/Reconfiguration Based on Supervisory Control of TDES -- Priority-Free Conditionally-Preemptive Real-Time Scheduling Based on R-W Method -- Modular Scheduling/Reconfiguration with Exact Execution Time Based on R-W Method -- Scheduling/Reconfiguration Based on Supervisory Control of STS -- Conclusion and Future Work.