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By Gordon Pask, Warren S. McCulloch

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Stretch receptors in the muscle signal the degree of contraction along 'proprio~ ceptive' fibres and this feed back to various parts of the brain which are concerned specifically inhibits motor activity and stabilizes the motion. The whole process is monitored by a further, often visual, feedback which conveys a difference signal Y ,- Y, which is 0 when the act is completed. So limb movement does involve a two-loop positional servomechanism. Nerve trunks are communication channels carrying impulse frequency modulated signals.

AN APPROACH TO CYBERNETICS CONTROL SYSTEMS B = b, action (or instruction) a. should be biased favourably to an extent 1J' (0, /11) and action (or instruction) fJ to an extent 1J' (b, m). Thus, at t = m, these values are applied as a bias to of the numerator term is an event category which logically includes the index of the denominator tcrm. rr, at a given instant, '8 the dice thrower, Figure 2 (ii), which, on receiving a request signal, determines either 0: or p. , m + I, the a priori probabiJities p (a), p (b) are replaced by the best estimates, lJ' (a, m), 1J' (b, m) and the predictive controller embarks upon a further cycle.

Changing transition probabilities that govern her behaviour) and learns what instructions induce a fruitful altitude. This in an , , IOdustnal system is the method of changing parameters in a subcontroller. Finally, learning may be distributed throughout the system. The hierarchy stili has a real logical status, but no physical location &e Figure 15 (i). J ... Et -yt ".. Fig. I S (ii). ""oo. Fr,. ~ "~'~OL"''' r'£, I I- 9 UAlUATOR IS 0). Equivalent views of an adaptive controller. Controllers in Industry The recently automated candy factory in Figu re IS (i1) illustrates an industrial application of adaptive control.

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