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The application of Petri nets is one of the well-known approaches for developing provably error-free control software for manufacturing systems. To evaluate the practicability of available methods and tools for at least medium-sized systems, a case study has been performed to develop modularised control software of a production cell with hierarchical Petri nets, supporting reuse as well as stepwise validation.doi:10.1007/s001700050051 fatcat:a44vof3djng7la3t67fm7idmcy