This paper presents a novel approach to adapt a behavioral model in order to satisfy a requirement in Hennessy-Milner Logic, including an additional box modality operator, expressing an invariant formula. Control system synthesis, as defined in this way, retains all noninvalidating behavior, and thereby guarantees maximal permissiveness for supervisory control. This research extends earlier work by embracing a broader synthesized logic, enabling synthesis with respect to invariant formulas for non-deterministic behavioral models. All definitions and proofs in this paper have been computer verified using the Coq proof assistant.
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