Ratnesh Kumar Shigemasa Takai Martin Fabian Toshimitsu Ushio Maximally permissive mutually and globally nonblocking supervision with application to switching control. 1299-1312 2005 41 Automatica 8 http://dx.doi.org/10.1016/j.automatica.2005.03.011 db/journals/automatica/automatica41.html#KumarTFU05