The challenge faced in today's manufacturing and business environments is the question of how to satisfy increasingly stringent customer requirements while managing growing system complexity. For example, customers expect high-quality, customizable, low-cost products that can be delivered quickly. The systems that deliver these expectations are by nature distributed, concurrent, and stochastic, and, as a result, increasingly difficult to manage. Unfortunately, the traditional hierarchical, strictly centralized approach to control used in these domains is characteristically inflexible,...