This chapter focuses on control design using abstraction. Given a system and its abstraction, as defined in the previous chapter, a method is presented for transforming a controller in the abstracted system back to the original system. Conditions for the existence and uniqueness of transformation are provided and the relationship with traceability is given. Finally, if such a transformation does not exist, the existence of an arbitrarily close solution is investigated and its relationship to
-traceability is studied.