Self-X: The Control Within

Trends in complex, software-intensive control systems show a continuous process of incorporating mechanisms of self-representation and reflection. One of the main reasons is to improve system performance and resilience in changing uncertain environments. These approaches employ runtime models of the system itself that, to some extent, are identifiable with other modelling strategies at the system design and construction phases. Systems reflect upon themselves by means of self-models. From partial plant representations like those employed in classic model-based adaptive controllers to more encompassing plant+controller mixed models, the internal model principle is pushing software-intensive control systems designs to a scale that would match the complexity of modern models of human self-awareness and consciousness.