Many manufacturers would like to move towards automation systems that provide real-time production control and enable mass customization. In this session, we relate our experience in applying a model-based approach to real-time planning, scheduling, and control in a high-speed, parallel manufacturing system. In particular, we consider production-printing systems, a complex domain with dynamic and real-time constraints. Our software can autonomously create and execute production plans at the individual unit level as job requests arrive, running several jobs simultaneously and re-planning in real-time when machines fail. We conclude by sharing lessons learned and drawing specific parallels to batch manufacturing.