Re: answers cntd.

On Mon, 1 Oct 2001, Cezary Zielinski wrote:

[...]
> What I think you are saying that the same set of sensor readings is
> used both for servo control and trajectory generation and thus there
> might be oposing reaction of both levels. If my understanding of the
> problem is correct, then my answer is that you are probobly right -
> there will be a conflict. Nevertheless I am not proposing such a
> thing. My intension was that each level uses its own set of sensors
> which will provide readings that will not produce conflicting
> modifications.

Ok, I understand. And that's also what I think defines the borders of
a `component': _within_ a component, stability (and other proporties)
are guaranteed (because there is a responsible procedure _in_ the
component), while using feedback around the component is without
real-time guarantees. (Unless the internal component is
deterministic.)


Herman