The problem of systematically synthesizing supervisory control laws that satisfy eventuality and efficiency requirements for hybrid systems modelled by hybrid automata is considered. Here, the efficiency requirement is specified by weighting the discrete transitions of the system. The optimization of the efficiency requirement is considered in the min-max sense due to the existence of disturbance inputs. Adopting a game theoretic approach, the high priority eventuality requirement is considered first and the class of controls, in which the low priority efficiency requirement should be optimized, is obtained. Then, a dynamic programming algorithm, which determines the value function of the optimization problem, is derived. A synthesis problem on a simplified batch process plant is considered to illustrate a potential application of the approach.