1. Introduction -- 2. Preliminaries -- 3. Symbolic computation and analysis of petri nets -- 4. Supervisor design based on the theory of regions -- 5. Maximally permissive supervisors -- 6. Most permissive supervisors -- 7. Structurally minimal supervisors -- 8. Behaviorally optimal and structurally simple supervisors -- 9. Forbidden state problems -- 10. Conclusions and open problems.