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3 Finite-State Machines . . . . . . . . . 1 Transitions . . . . . . . . . . 2 When a Reaction Occurs . . . . . . . Sidebar: Probing Further: Hysteresis . . . . . 3 Update Functions . . . . . . . . . Sidebar: Software Tools Supporting FSMs . . . . 4 Determinacy and Receptiveness . . . . . 4 Extended State Machines . . . . . . . . Sidebar: Moore Machines and Mealy Machines . . . 5 Nondeterminism . . . . . . . . . . . 1 Formal Model .

However, the output grows without bound. In practice, a helicopter uses a feedback system to determine how much torque to apply at the tail rotor to keep the body of the helicopter straight. We study how to do that next. 4 Feedback Control A system with feedback has directed cycles, where an output from an actor is fed back to affect an input of the same actor. 3. Most control systems use feedback. They make measurements of an error (e in the figure), which is a discrepancy between desired behavior (ψ in the figure) and actual behavior (θ˙ y in the figure), and use that measurement to correct the behavior.

This will form the core of the cyber-physical system problem, since joint modeling of the cyber side, which is logical and conceptual, with the physical side, which is embodied in matter, is the core of the problem. We therefore make no attempt to be comprehensive, but rather pick a few modeling techniques that are widely used by engineers and well understood, review them, and then compose them to form a cyber-physical whole. 2 Design The second part of the book has a very different flavor, reflecting the intrinsic heterogeneity of the subject.

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8080 8085 Assembly Language Programming by Intel Corporation

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