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We study the control of a nondeterministic discrete event system (DES) subject to a control specification expressed in the propositional mu-calculus, under complete observation of events. Given a plant automaton model and a mu-calculus specification we provide a set of rules that computes the "quotient" of the specification against the plant, which is another mu-calculus formula such that a supervisor exists if and only if the quotiented formula is satisfiable. Thus the control problem isdoi:10.1109/cdc.2006.376737 dblp:conf/cdc/0001006a fatcat:q3b6r65kmfewtelbyjcmhkzp2y