This paper presents a basis for a framework for the design of supervisory machine control. Machine behaviour is described using the task resource system (TRS) paradigm. Analysis is performed to classify system descriptions leaving room for control choices up to a certain extent: selected untimed TRS, instantiated unselected TRS and TRS constraints. As a consequence of the physical nature of machines and products, some machine-specific issues are involved. Furthermore, an overview of existing techniques that are suitable to support the design of supervisory control is given. This overview involves techniques from different research areas that help to make well-founded design decisions and identifies relevant issues.