The plant model consists of the following subsystems: Robot, M1, M2,
and M3. The finite automaton for each of these is shown in Figure
18. We do not show the recognizer for the shuffled
plant, since it would require 
states.
Figure 18: Automata for subsystems in 3-Machine Example
Notice that, even though there is an event 
that takes the robot
from the ``Fetching-Part'' state to ``Loading-M1,'' a different
event, 
is used in the M1-module that takes this subsystem from
``Idle(1)'' to ``Being-Loaded(1).'' This ``redundancy'' is necessary
here because, as we know, the R&W framework requires that the
subsystems be independent (i.e. they should share no event labels). This
requirement is a clear drawback since it makes the description of the
system more complex than it needs to be. Due to this complexity of
description, we do not attempt to illustrate the supervisor for this
example.