No one mentioned arduino type microcontrollers. Those can handle even sensors and they can be coded to be failsafe. Using quality relays / contactors they could be very close to industrial level automatisation without the industrial price tag.
With much less than you planing to spend you can also make "watchdog" microcontrollers that will monititor the main control microcontroler(s) and switch to spares if they break and start doing weird shit. But most of the time having an alert if something goes out of parameters is enaugh so you can change the part that failed.
With much less than you planing to spend you can also make "watchdog" microcontrollers that will monititor the main control microcontroler(s) and switch to spares if they break and start doing weird shit. But most of the time having an alert if something goes out of parameters is enaugh so you can change the part that failed.