The empirical process at Agile India 2012
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The Empirical Process
- at the very core of agile everything
Daniel Brolund @danielbrolund [email protected]
![Page 6: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/6.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Lets start with an exercise!
![Page 7: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/7.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Lets start with an exercise!
↑↰
P
↱
D
↑
↑
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Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Goal: Max nr of paper balls in dropzone!
Lets start with an exercise!
↑↰
P
↱
D
↑
↑
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Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
![Page 12: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/12.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 13: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/13.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 14: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/14.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 15: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/15.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 16: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/16.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 17: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/17.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 18: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/18.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
![Page 19: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/19.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Me
Do I jump in...?
![Page 20: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/20.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Schematic: Me
Do I jump in...?
![Page 21: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/21.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Desired
Schematic: Me
Do I jump in...?
![Page 22: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/22.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Desired
Desired
Schematic: Me
Do I jump in...?
![Page 23: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/23.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Desired
Desired
Controller
Schematic: Me
Do I jump in...?
![Page 24: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/24.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
ControllerDesired
Desired
Controller
Schematic: Me
Do I jump in...?
![Page 25: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/25.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
ControllerDesired
Desired
Systeminput
Controller
Schematic: Me
Do I jump in...?
![Page 26: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/26.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
ControllerDesired
Systeminput
Desired
Systeminput
Controller
Schematic: Me
Do I jump in...?
![Page 27: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/27.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
ControllerDesired
Systeminput
Desired
Systeminput
Controller
System
Schematic: Me
Do I jump in...?
![Page 28: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/28.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Controller SystemDesired
Systeminput
Desired
Systeminput
Controller
System
Schematic: Me
Do I jump in...?
![Page 29: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/29.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Controller SystemDesired
Systeminput
Desired
Systeminput
ActualController
System
Schematic: Me
Do I jump in...?
![Page 30: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/30.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Schematic: Me
Do I jump in...?
![Page 31: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/31.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Schematic: Me
Do I jump in...?
![Page 32: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/32.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Time
Schematic: MeTemp
Do I jump in...?
![Page 33: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/33.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 34: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/34.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 35: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/35.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 36: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/36.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 37: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/37.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 38: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/38.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
?Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
![Page 39: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/39.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
An everyday empirical process...
Actual==Desired ?
Controller SystemActualDesired
Systeminput
Desired
Systeminput
ActualController
System
Actual
Time
Desired
Schematic: MeTemp
Do I jump in...?
Robot
![Page 43: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/43.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
What is the control error?Temp
![Page 44: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/44.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
What is the control error?Temp
![Page 45: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/45.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
What is the control error?Temp
"Error surface"
![Page 46: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/46.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
Control Error = ∫|Desired-Actual|
What is the control error?Temp
"Error surface"
![Page 47: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/47.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
Control Error = ∫|Desired-Actual|
What is the control error?Temp
"Error surface"
Time
Control error
![Page 48: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/48.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
Control Error = ∫|Desired-Actual|
What is the control error?Temp
"Error surface"
Time
Control error
![Page 49: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/49.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Actual
Time
Desired
Control Error = ∫|Desired-Actual|
What is the control error?Temp
"Error surface"
Time
Control error∞
![Page 50: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/50.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput
![Page 51: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/51.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
![Page 52: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/52.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
![Page 53: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/53.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
![Page 54: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/54.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
Errorsε
![Page 55: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/55.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
Errorsε
"Unlimited"energy
∞
![Page 56: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/56.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
Errorsε
Change"Unlimited"
energy
∞
![Page 57: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/57.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
Errorsε
Change"Unlimited"
energy
∞
Complexity
![Page 58: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/58.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The "simplistic" solution
Controller SystemActualDesired
Systeminput Controller=(System)-1
⇒Desired = Actual
Requires: - detailed knowledge of System, Desired and hence Actual - that such a Controller exists and can create such System input- that the System can handle System input
Errorsε
Change"Unlimited"
energy
∞
Complexity
Won't work in reality
![Page 60: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/60.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
As before, but now only one step at a time!
![Page 61: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/61.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑
As before, but now only one step at a time!
![Page 62: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/62.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰
As before, but now only one step at a time!
![Page 63: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/63.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰↑
As before, but now only one step at a time!
![Page 64: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/64.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰
P
↑
As before, but now only one step at a time!
![Page 65: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/65.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰
P
↱
↑
As before, but now only one step at a time!
![Page 66: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/66.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰
P
↱
↑
↑
As before, but now only one step at a time!
![Page 67: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/67.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
Robot
Controller
Exercise 2
↑↰
P
↱
D
↑
↑
As before, but now only one step at a time!
![Page 69: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/69.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What happened this time?
Discussion - groups of 4-6
![Page 70: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/70.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
Adding feedback!
Systeminput
ActualController
Me
Desired
System
![Page 71: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/71.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Systeminput
ActualController
Me
Desired
System
![Page 72: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/72.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Systeminput
ActualController
Me
Desired
System
![Page 73: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/73.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Sensor
Systeminput
ActualController
Me
Desired
System
![Page 74: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/74.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Sensor
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 75: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/75.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Sensor
SensorObserved result
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 76: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/76.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Sensor
Error-
SensorObserved result
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 77: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/77.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Feed-back or Closed-loop system
Sensor
Error-
SensorObserved result
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 78: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/78.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Feed-back or Closed-loop system
Sensor
Error-
SensorObserved result
Time
Temp
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 79: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/79.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Feed-back or Closed-loop system
Sensor
Error-
SensorObserved result
Time
Desired
Temp
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 80: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/80.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Feed-back or Closed-loop system
Sensor
Error-
SensorObserved result Actual
Time
Desired
Temp
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 81: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/81.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Schematic:
Controller SystemActualDesired
Systeminput
Daniel Brolund — @danielbrolund — [email protected]
Adding feedback!
Feed-back or Closed-loop system
Sensor
Error-
SensorObserved result Actual
Time
Desired
Temp
Observed result
Systeminput
ActualController
Me
Desired
System
![Page 83: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/83.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What is the control error now?
Actual
Desired
Temp
![Page 84: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/84.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What is the control error now?
Actual
Desired
Temp
![Page 85: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/85.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Control Error = ∫|Desired-Actual|
What is the control error now?
Actual
Desired
Temp
![Page 86: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/86.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Control Error = ∫|Desired-Actual|
What is the control error now?
Actual
Desired
Temp
![Page 87: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/87.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Control Error = ∫|Desired-Actual|
What is the control error now?
Time
Control error
Actual
Desired
Temp
![Page 88: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/88.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Control Error = ∫|Desired-Actual|
What is the control error now?
Actual
Time
Control error
Actual
Desired
Temp
![Page 89: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/89.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Control Error = ∫|Desired-Actual|
What is the control error now?
Actual
Time
Control error
bounded!!
Actual
Desired
Temp
![Page 90: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/90.jpg)
Daniel Brolund — @danielbrolund — [email protected]
In software: There are many feedback loops at play!
![Page 91: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/91.jpg)
Daniel Brolund — @danielbrolund — [email protected]
In software: There are many feedback loops at play!
![Page 92: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/92.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Live user feedback/release
In software: There are many feedback loops at play!
![Page 93: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/93.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Live user feedback/release Usability tests
In software: There are many feedback loops at play!
![Page 94: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/94.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Live user feedback/release Usability tests
In software: There are many feedback loops at play!
![Page 95: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/95.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Retrospective
Live user feedback/release Usability tests
In software: There are many feedback loops at play!
![Page 96: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/96.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 97: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/97.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 98: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/98.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 99: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/99.jpg)
Daniel Brolund — @danielbrolund — [email protected]
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 100: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/100.jpg)
Daniel Brolund — @danielbrolund — [email protected]
TDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 101: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/101.jpg)
Daniel Brolund — @danielbrolund — [email protected]
TDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 102: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/102.jpg)
Daniel Brolund — @danielbrolund — [email protected]
TDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Pairing
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 103: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/103.jpg)
Daniel Brolund — @danielbrolund — [email protected]
TDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Compilation Pairing
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 104: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/104.jpg)
Daniel Brolund — @danielbrolund — [email protected]
SquigglesTDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Compilation Pairing
Whiteboard discussions
In software: There are many feedback loops at play!
![Page 105: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/105.jpg)
Daniel Brolund — @danielbrolund — [email protected]
SquigglesTDD
ATDD
Daily stand-up
Retrospective
Live user feedback/release Usability tests
Compilation Pairing
Whiteboard discussions
In software: There are many feedback loops at play!
...AND MANY MORE!
![Page 106: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/106.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Exercise 3: Draw your own feedback loops
TDD 10s
Retros 1w
Release 1m
![Page 108: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/108.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
As before, but now now three steps at a
time!
![Page 109: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/109.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑As before, but now now three steps at a
time!
![Page 110: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/110.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
As before, but now now three steps at a
time!
![Page 111: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/111.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰↑
As before, but now now three steps at a
time!
![Page 112: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/112.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰↑
As before, but now now three steps at a
time!
![Page 113: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/113.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↑
As before, but now now three steps at a
time!
![Page 114: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/114.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↑
As before, but now now three steps at a
time!
![Page 115: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/115.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↱
↑
As before, but now now three steps at a
time!
![Page 116: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/116.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↱
↑
As before, but now now three steps at a
time!
![Page 117: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/117.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↱
↑
↑
As before, but now now three steps at a
time!
![Page 118: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/118.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↱
↑
↑
As before, but now now three steps at a
time!
![Page 119: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/119.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Drop-zone
RobotController
Exercise 4
↑↰
P
↱
D
↑
↑
As before, but now now three steps at a
time!
![Page 121: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/121.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What happened this time?
Discussion - groups of 4-6
![Page 122: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/122.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Me
Desired
![Page 123: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/123.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
![Page 124: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/124.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Delay
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
![Page 125: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/125.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Delay
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 126: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/126.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Time
Temp
Delay
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 127: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/127.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Time
Desired
Temp
Delay
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 128: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/128.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Time
Desired
Temp
Delay
Tap temp
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 129: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/129.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Time
Desired
Temp
Delay
Tap temp
Tap tempError
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 130: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/130.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Time
Desired
Temp
Delay
Tap temp
Tap temp
Tap temp
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 131: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/131.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Observed result
Time
Desired
Temp
Delay
Tap temp
Tap temp
Tap temp
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 132: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/132.jpg)
Daniel Brolund — @danielbrolund — [email protected] Brolund — @danielbrolund — [email protected]
The impact of delay
Systeminput
ActualController
System
Sensor
Observed result
Time
Desired
Temp
Delay
Tap temp
Tap temp
Tap temp
Error
-
Schematic:
Controller SystemActualDesired
Systeminput
SensorObserved result
-
Me
Desired
Delay
![Page 134: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/134.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Observed result
Desired
Temp
Tap temp
Delay considerations
![Page 135: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/135.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Observed result
Desired
Temp
Tap temp
Delay considerations
delay > half of required cycletime ⇒
Guaranteed instability!(in practice, instability comes earlier)
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Daniel Brolund — @danielbrolund — [email protected]
Observed result
Desired
Temp
Tap temp
Delay considerations
delay > half of required cycletime ⇒
Guaranteed instability!(in practice, instability comes earlier)
It often takes about 5-10 times the delay to tune the system
![Page 138: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/138.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
-
![Page 139: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/139.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
Delay position in loop is irrelevant w.r.t. instability!
-
![Page 140: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/140.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
DelayDelay position in loop is irrelevant w.r.t. instability!
-
![Page 141: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/141.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
Delay position in loop is irrelevant w.r.t. instability!
-
Delay
![Page 142: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/142.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
Delay
Delay position in loop is irrelevant w.r.t. instability!
-
![Page 143: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/143.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
DelayDelay position in loop is irrelevant w.r.t. instability!
-
![Page 144: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/144.jpg)
Daniel Brolund — @danielbrolund — [email protected]
More delay considerations
Error
- Controller SystemActualDesired
Systeminput
Sensor
Observed result
DelayDelay position in loop is irrelevant w.r.t. instability!
-
![Page 146: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/146.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Feedback cycle-time sweet-spots are different due to
processing and delays
Feedback delay considerations
![Page 147: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/147.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Feedback cycle-time sweet-spots are different due to
processing and delays
Feedback delay considerations
slower that desired change ⇒
Unstable system
![Page 148: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/148.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Feedback cycle-time sweet-spots are different due to
processing and delays
Feedback delay considerations
slower that desired change ⇒
Unstable system
faster than desired change⇒
Controller overloaded or too expensive
![Page 149: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/149.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Feedback cycle-time sweet-spots are different due to
processing and delays
Feedback delay considerations
slower that desired change ⇒
Unstable system
faster than desired change⇒
Controller overloaded or too expensive
You want to shorten inner
feedback loops before outer!
![Page 151: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/151.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Observability and controllability
-
![Page 152: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/152.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Observability and controllability
-
![Page 153: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/153.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
-
![Page 154: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/154.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
-
![Page 155: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/155.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
-
![Page 156: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/156.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
-
![Page 157: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/157.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Flow
-
![Page 158: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/158.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Flow Acidity
-
![Page 159: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/159.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Mineral tracesFlow Acidity
-
![Page 160: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/160.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
![Page 161: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/161.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 162: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/162.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 163: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/163.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 164: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/164.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 165: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/165.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Acceptance test results
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 166: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/166.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Acceptance test results
Nr of checkins
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 167: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/167.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Acceptance test results
Nr of checkins Request statistics
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 168: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/168.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Acceptance test results
Nr of checkins Request statistics
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
User satisfaction
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 169: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/169.jpg)
Daniel Brolund — @danielbrolund — [email protected]
The Sensor has to measure
a relevant state (observability) that the
Controller can influence (controllability).
Lines of code
Unit test results
Acceptance test results
Nr of checkins Request statistics
Error- Controller System
ActualDesired
Systeminput
SensorObserved result
Uncontrollable
Unobservable
Observability and controllability
User satisfactionUsability
ROI
Water temperature
Mineral traces
Radioactivity
Flow Acidity
-
SW
![Page 174: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/174.jpg)
Daniel Brolund — @danielbrolund — [email protected]
+ =
Huh?NoiseSignal
Signals must be filtered from noise. ⇒ Delays
⇒ Lower communication bandwidth
Noise
![Page 175: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/175.jpg)
Daniel Brolund — @danielbrolund — [email protected]
+ =
Huh?NoiseSignal
Signals must be filtered from noise. ⇒ Delays
⇒ Lower communication bandwidth
Noise
In SW-development, noise can be - Irrelevant information - Disinformation
![Page 177: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/177.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
![Page 178: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/178.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
What could you observe?
![Page 179: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/179.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
What could you observe? What could you control?
![Page 180: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/180.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
What could you observe? What could you control?
What was the noise?
![Page 181: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/181.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
What could you observe? What could you control?
What was the noise?
What was the signal?
![Page 182: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/182.jpg)
Daniel Brolund — @danielbrolund — [email protected]
What was the delay in the robot exercises?
Discussion - groups of 4-6
What could you observe? What could you control?
How did all that affect you?
What was the noise?
What was the signal?
![Page 183: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/183.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Is feed-forward waste?
-
![Page 184: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/184.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Is feed-forward waste?
-
![Page 185: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/185.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
Is feed-forward waste?
-
![Page 186: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/186.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
Is feed-forward waste?
-
![Page 187: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/187.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD
Is feed-forward waste?
-
![Page 188: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/188.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD Daily standups
Is feed-forward waste?
-
![Page 189: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/189.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD
Iterations
Daily standups
Is feed-forward waste?
-
![Page 190: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/190.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD
Iterations
Daily standupsContinuous integration
Is feed-forward waste?
-
![Page 191: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/191.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD
Iterations
Daily standupsContinuous integration
Retrospectives
Is feed-forward waste?
-
![Page 192: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/192.jpg)
Daniel Brolund — @danielbrolund — [email protected]
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
Feed-forward using the Controller is application of a priori knowledge.
We always need some of it to avoid re-inventing wheels.
TDD
ATDD
Iterations
Daily standupsContinuous integration
Deployment environments
Retrospectives
Is feed-forward waste?
-
![Page 193: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/193.jpg)
Daniel Brolund — @danielbrolund — [email protected]
• How can you break the empirical process? What part?
• Controller?
• System?
• Sensor?
• Desired?
Failure modes - discussion in groups
Error- Controller SystemActualDesired
Systeminput
SensorObserved result
-
![Page 194: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/194.jpg)
Daniel Brolund — @danielbrolund — [email protected]
• What does the following do to your feedback loops?
• Trust?
• Distrust?
• Lies?
• Care?
• What is noise according to you?
• What other "soft" issues will affect the system? How?
"Softer" issues - discussion in groups
![Page 195: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/195.jpg)
Daniel Brolund — @danielbrolund — [email protected]
http://www.azarask.in/blog/post/the-wrong-problem/
![Page 196: The empirical process at Agile India 2012](https://reader033.fdocuments.us/reader033/viewer/2022051818/54b59d7d4a7959f14c8b459a/html5/thumbnails/196.jpg)
Daniel Brolund — @danielbrolund — [email protected]
• Introduce feedback!
• Tune and prune the Sensors.
• Shorten inner feedback loops before outer.
• Reduce delays.
• Reduce noise.
Some of my best advice...