The internal model principle of control theory
Integrity signals
Registry
Cites
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Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
A good controller contains a model of the item being controlled.
“One of the fundamental principles in control engineering is that a good controller contains a model of the item being controlled (Conant and Ashby, 1970; Francis and Wonham, 1976; Camacho and Bordons Alba, 2004; Haith and Krakauer, 2013).”
From The Attention Schema Theory: A Foundation for Engineering Artificial Consciousness (2017) · cites this paper as Francis and Wonham, 1976
Cited by
Sorted by citations
Ecological interface design: theoretical foundations
Vicente, K. J., & Rasmussen, J. (1992) · IEEE Transactions on Systems, Man and Cybernetics · doi:10.1109/21.156574 · Cited by 1,084 · see citing works
Interoception as modeling, allostasis as control
Sennesh, E., Theriault, J., Brooks, D., van de Meent, J.-W., Barrett, L. F., & Quigley, K. S. (2022) · Biological Psychology · doi:10.1016/j.biopsycho.2021.108242 · Cited by 107 · see citing works
The Attention Schema Theory: A Foundation for Engineering Artificial Consciousness
Graziano, M. S. A. (2017) · Frontiers in Robotics and AI · doi:10.3389/frobt.2017.00060 · Cited by 79 · see citing works
“One of the fundamental principles in control engineering is that a good controller contains a model of the item being controlled (Conant and Ashby, 1970; Francis and Wonham, 1976; Camacho and Bordons Alba, 2004; Haith and Krakauer, 2013).”
BackgroundWilterson, A. I., & Graziano, M. S. A. (2021) · Proceedings of the National Academy of Sciences · doi:10.1073/pnas.2102421118 · Cited by 26 · see citing works
- Authors
- Francis, B. A., & Wonham, W. M.
- Affiliations
- University of California, Berkeley (US)
- University of Toronto (CA)
- ORCID
- Wonham, W.M.
- Venue
- Automatica
- Publisher
- Elsevier BV
- Published
- 1976-09
- Volume
- 12
- Issue
- 5
- Pages
- 457-465
- ISSN
- 0005-1098 (ISSN-L)
- OpenAlex
- W114979488
- Cited by
- 2,874
- References
- 0
- Citations by year
- 2026: 83 · 2025: 123 · 2024: 110 · 2023: 140 · 2022: 123 · 2021: 140 · 2020: 139 · 2019: 160 · 2018: 161 · 2017: 141 · 2016: 144 · 2015: 104 · 2014: 119 · 2013: 124 · 2012: 112
- FWCI
- 7.59
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Automatica (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Design
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Stability of Dynamical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
- Keywords
- internal model principle, regulator problem, output regulation, disturbance rejection, reference tracking, feedback control, transmission zeros, pole-zero cancellation, linear time-invariant systems, weakly nonlinear systems, step disturbance
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
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