A detailed description of the methodology along with several case studies are given in:
Hui-Min Huang, Harry Scott, Elena Messina, Maris Juberts, and Richard Quintero, "Intelligent System Control: A Unified Approach and Applications," Book Chapter in Academic Press Volumes on "Expert Systems Techniques and Applications," C. T. Leondes, Ed., 2000.
Additional RCS methodology documents include:
Horst, J.A., Architecture, Design Methodology, and Component-Based Tools for a Real-Time Inspection System, Proceedings of the 3rd IEEE International Symposium on Object Oriented Real-time Distributed Computing (ISORC 2000), Newport Beach, CA, March 15-17, 2000.
Quintero, R., Barbera, A.J., A Real-Time Control System Methodology for Developing Intelligent Control Systems, NISTIR 4936, National Institute of Standards and Technology, Gaithersburg, MD, October 1992.