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A formal approach to distributed supervisory control synthesis for automated manufacturing systems is presented in this paper. The discrete manufacturing system (plant) is modeled with automata in a modular way and local control specifications are defined for each local subsystem by means of logical equations in order to construct local supervisors. To establish global control, global specifications are defined as logical combinations to ensure coordination and interaction between the different subsystems. Formal algorithms for the intersection between local controllers and global constraints are proposed. We refer to the resultant controllers as Distributed Controllers (DCs). The formulation of the problem and the control synthesis algorithms are applied to an experimental manufacturing system.