Table of contents : Cover Front Matter 1. Introduction 2. Preliminaries of Supervisory Control Theory 3. Real-Time Scheduling and Reconfiguration 4. Non-Preemptive Scheduling/Reconfiguration Based on Supervisory Control of TDES 5. Priority-Free Conditionally-Preemptive Real-Time Scheduling Based on R-W Method 6. Modular Scheduling/Reconfiguration with Exact Execution Time Based on R-W Method 7. Scheduling/Reconfiguration Based on Supervisory Control of STS 8. Conclusion and Future Work Back Matter