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The authors propose a paradigm for the development of self-controlling software, one that combines the advantages of control theory and software engineering. The authors introduce a series of progressively more sophisticated software models based on corresponding models from control theory. The essence of a control model is one or more feedback loops; they discuss the various loops that occur for software systems. They then introduce the self-controlling software model, which supports three levels of control: feedback, adaptation, and reconfiguration.

K. Baclawski, M. M. Kokar and Y. A. Eracar, "Control Theory-Based Foundations of Self-Controlling Software," in IEEE Intelligent Systems, vol. 14, no. , pp. 37-45, 1999.
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