84.1 Information Threshold The goal of control: H(XY=0 ontroller From I(X;Y=H(X)-H(XY we have H(XY=H(X)-H(Y-H(YX) Obiect H(YX)+H(X)-HY Since h(x)20, in order to make H(XY=0, there must be H(Y)≥H(X)=H(N§4.1 Information Threshold Controller Object X Y N The goal of control: H(X|Y) = 0 From I(X;Y) = H(X) – H(X|Y) we have H(X|Y) = H(X) – [H(Y) – H(Y|X)] = H(Y|X) + H(X) – H(Y) Since H(Y|X)  0, in order to make H(X|Y) = 0, there must be H(Y)  H(X) = H(N)