update

Author: benpaddlejones

tutorials/Lecture6.md

@@ -2,7 +2,44 @@
 
 ## Lecture 5 concepts
 
-- State Machine
+- Open & Closed Loop Control Systems
+- Open Loop State Machine
+
+## Open & Closed Loop Control Systems
+
+Open and closed loop control systems are two fundamental types of control systems used in engineering, automation, robotics, and other fields to manage the behavior of devices or processes.
+
+### Open Loop
+
+An open loop control system is a type of system in which the control action is independent of the desired output or the actual system output.
+
+How it works:
+
+- The system receives an input (command or reference signal).
+- The controller processes this input and sends a control signal to the actuator.
+- The actuator executes the control action, affecting the system or process.
+- There is no feedback mechanism to compare the output with the input.
+
+Example:
+
+A microwave oven: You set the cooking time, and the microwave runs for that duration regardless of how hot the food actually gets.
+
+### Closed Loop
+
+A closed loop control system (also called a feedback control system) is a system in which the control action is dependent on the desired output and the actual system output.
+
+How it works:
+
+- The system receives an input (desired value or setpoint).
+- The controller processes this input and sends a control signal to the actuator.
+- The actuator operates on the system.
+- A sensor measures the actual output.
+- The output is fed back and compared with the input (setpoint).
+- The difference (error) is used to adjust the control action to reduce the error.
+
+Example:
+
+A home thermostat: The home owner sets a desired temperature. The system measures the actual room temperature and adjusts the heater/cooler to reach and maintain the desired temperature. As the system gets closer (or overshoots) to the desired temperature it adjusts the output.
 
 ## State Machine
 
@@ -13,8 +50,9 @@ Key concepts:
 - States: Distinct modes or conditions in which the system can exist.
 - Transitions: Rules that define how and when the system moves from one state to another, often triggered by events or inputs.
 - Events/Inputs: External actions or signals that cause state transitions.
+- A State Machince can be open or closed
 
-## Implement a State Machine
+## Implement a Open Loop State Machine
 
 ## Usage: Controller Class (State Machine Example)