Model-based programs MERS Interact Directly with State Embedded programs interact with Model-based programs plant sensors and actuators interact with plant state Read sensors · Read state Set actuators Write state Model-based Embedded program Embedded Program obs Cntrl Model-based Executive obs Cntrl Plant Plant Programmer must map between Model-based executive maps state and sensors/actuators between state and sensors/actuatorsInteract Directly with State Model-based Programs Embedded programs interact with Model-based programs plant sensors and actuators: interact with plant state: • Read sensors • Read state • Set actuators • Write state Embedded Program S Plant Obs Cntrl Model-based Embedded Program S Plant S’ Model-based Executive Obs Cntrl Programmer must map between Model-based executive maps state and sensors/actuators. between state and sensors/actuators