30.1 FAIL SAFE DESIGN 569

30.2 DEBUGGING 570

30.2.1 Troubleshooting 570

30.2.2 Forcing 570

30.3 PROCESS MODELING 570

30.4 PROGRAMMING FOR LARGE SYSTEMS 573

30.4.1 Developing a Program Structure 573

30.4.2 Program Verification and Simulation 575

30.5 DOCUMENTATION 575

30.6 COMMISIONING 583

30.7 SAFETY 584

30.7.1 IEC 61508/61511 safety standards 584

30.8 LEAN MANUFACTURING 585

30.9 SUMMARY 585

30.9.1 References 586

30.10 PRACTICE PROBLEMS 586

30.11 ASSIGNMENT PROBLEMS 586

30.1 PRACTICE PROBLEM SOLUTIONS 587