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Synthesizing embedded control software from formal specifications
...The LTL specification captures the desired behavior of a controller where the environment takes the first move (i.e., sense/input then react/output), so the synthesized controller can be viewed as a Mealy machine.
A step-by-step tutorial is available within the software package.
Generating PLC programs from formal specifications
G4LTL-ST is a standalone tool and a Java library for automatically generating industrial control software (supporting IEC-61131-3 Structure Text) from LTL or extended logic specifications.
See Tutorial.txt inside the package for step-by-step instructions. For technical demails, see CAV'14 paper "G4LTL-ST: Automatic Generation of PLC Programs". The old version (G4LTL; under BSD license) is available under file\arxiv.