This paper deals with the problem of controller synthesis for coloured Petri nets. It exploits the expressiveness power of coloured Petri nets to derive a generic controller model to tackle the forbidden states problem. Such a controller observes and tracks the behaviour of the controlled model by counting the firing of its transitions through the use of Parikh vectors. When it is necessary, the controller disables some controllable transitions to prevent the controlled model from reaching undesired behaviours.
