Model-based Programs MERS CSAIL Interact Directly with state Embedded programs interact with lodel-based programs plant sensors/actuators interact with plant state Read sensors Read state Set actuators Write state Model-based Embedded program Embedded Program Obs Cntrl Plant Plant rogrammer must map between Model-based executive maps state and sensors/actuators between sensors. actuators to statesModel-based Programs Interact Directly with State Embedded programs interact with plant sensors/actuators: • Read sensors • Set actuators Model-based programs interact with plant state: • Read state • Write state Embedded Program S Plant Obs Cntrl Model-based Embedded Program S Plant Programmer must map between state and sensors/actuators. Model-based executive maps between sensors, actuators to states