A methodology is developed to determine cost"effective hierarchical computer control network designs for flexible manufacturing systems. By modeling the hierarchical control system (HCS) as a resource allocation problem, an optimal hardware configuration is identified using dynamic programing. Being independent of specific computer hardware technology, the model can address present and future automated manufacturing systems. A simulation model is developed to evaluate operational dynamics of the specified system configuration, analyze HCS component performance characteristics, and evaluate hardware and software in real simulation time. The model also simulates continuous system dynamics, as found in optimal adaptive control systems. / Ph. D.