john doyle 道陽 jean-lou chameau professor control and dynamical systems, ee, & bioe
DESCRIPTION
Universal laws and architectures: Theory and lessons from brains, bugs, nets , grids, planes, docs, fire, bodies, fashion , earthquakes, turbulence , music, buildings, cities , art, running, throwing , S y n e s t h e s i a , spacecraft, statistical mechanics. John Doyle 道陽 - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/1.jpg)
John Doyle 道陽Jean-Lou Chameau Professor
Control and Dynamical Systems, EE, & BioE
tech1#Ca
Universal laws and architectures:Theory and lessons from
brains, bugs, nets, grids, planes, docs, fire, bodies, fashion,
earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics
![Page 2: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/2.jpg)
accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecredibleprocess
capablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable
dependabledeployablediscoverable distributabledurableeffectiveefficientevolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable
manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable robust
safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplicitystablestandards
compliantsurvivablesustainabletailorabletestabletimelytraceableubiquitousunderstandableupgradableusable
Requirements on systems and architectures
![Page 3: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/3.jpg)
accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecredibleprocess
capablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable
dependabledeployablediscoverable distributabledurableeffectiveefficientevolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable
manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable robust
safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplicitystablestandards
compliantsurvivablesustainabletailorabletestabletimelytraceableubiquitousunderstandableupgradableusable
Requirements on systems and architectures
When concepts fail, words arise. Mephistopheles, Faust, Goethe
Mephistopheles. …Enter the templed hall of Certainty.Student. Yet in each word some concept there must be.Mephistopheles. Quite true!
But don't torment yourself too anxiously;For at the point where concepts fail,At the right time a word is thrust in there…
![Page 4: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/4.jpg)
When concepts fail, words arise. Mephistopheles, Faust, Goethe
• Concrete case studies• Theorems
Sorry, still too many words and slides.
Hopefully read later?
![Page 5: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/5.jpg)
When concepts fail, words arise. Mephistopheles, Faust, Goethe
• Concrete case studies• Theorems
“Laws and Architecture” • Few words more misused• Few concepts more confused
What’s the best/simplest fix?
![Page 6: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/6.jpg)
Reality is a crutch for people who can’t do math. Anon, Berkeley, 70’s
• Concrete case studies• Theorems
and words
![Page 7: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/7.jpg)
• Brains• Nets/Grids (cyberphys)• Bugs (microbes, ants)• Medical physiology
• Lots of aerospace• Wildfire ecology• Earthquakes• Physics:
– turbulence, – stat mech (QM?)
• “Toy”: – Lego– clothing, fashion
• Buildings, cities• Synesthesia
Fundamentals!
Case Study
![Page 8: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/8.jpg)
Focus today:• Neuroscience
+ People care+ Live demos
• Cell biology (esp. bacteria)+ Perfection Some people care
• Internet (of everything) (& Cyber-Phys)+ Understand the details- Flawed designs- Everything you’ve read is wrong (in science)*
• Medical physiology (esp. HRV)+ People care, somewhat familiar- Demos more difficult
* Mostly high impact “journals”
![Page 9: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/9.jpg)
Focus today:• Neuroscience
+ People care+ Live demos
• Cell biology (esp. bacteria)+ Perfection Some people care
• Internet (of everything) (& Cyber-Phys)+ Understand the details- Flawed designs- Everything you’ve read is wrong (in science)*
• Medical physiology+ People care, somewhat familiar- Demos more difficult
* Mostly high impact “journals”
![Page 10: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/10.jpg)
Glass 3.0
FaceWorld
Siri 3.0
What we want to build but can’t, yet.
![Page 11: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/11.jpg)
The zombie apocalypse is already here…
![Page 12: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/12.jpg)
accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable
dependabledeployablediscoverable distributabledurableeffective
evolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable
manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable
safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplestablestandardssurvivable
tailorabletestabletimelytraceableubiquitousunderstandableupgradableusable
efficient
robust
sustainable
Sustainable robust + efficient
![Page 13: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/13.jpg)
Priorities
• Functionality (behavior, semantics)• Robustness
– Uncertain environment and components– Fast (sense, decide, act)– Flexible (adaptable, evolvable)
• Efficiency– Energy– Other resources (make and maintain)
![Page 14: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/14.jpg)
Simple, apparent, obvious
• Functionality • Robustness
– Uncertain environment and components– Fast (sense, decide, act)– Flexible (adaptable, evolvable)
• Efficiency
Hidden
![Page 15: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/15.jpg)
Complexity Robustness
• Functionality (behavior, semantics)• Robustness
– Uncertain environment and components– Fast (sense, decide, act)– Flexible (adaptable, evolvable)
• Efficiency– Energy– Other resources (make and maintain)
![Page 16: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/16.jpg)
accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable
dependabledeployablediscoverable distributabledurableeffective
evolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable
manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable
safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplestablestandardssurvivable
tailorabletestabletimelytraceableubiquitousunderstandableupgradableusable
efficient
robust
sustainable
Sustainable robust + efficient
![Page 17: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/17.jpg)
accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable
dependabledeployablediscoverable distributabledurableeffective
evolvableextensiblefail
transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeabl
einteroperable learnablemaintainable
manageablemobilemodifiablemodularnomadicoperableorthogonalit
yportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable
safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplestablestandardssurvivable
tailorabletestabletimelytraceableubiquitousunderstandableupgradableusable
efficient
robust
sustainable
Simple dichotomous
tradeoff pairs
PCA Principal Concept Analysis
wasteful
fragile
efficient
robust
With function given
![Page 18: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/18.jpg)
wasteful
fragile
efficient
robust
Actual
Ideal
The main tradeoff
![Page 19: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/19.jpg)
Efficiency/instability/layers/feedback
• Sustainable infrastructure? (e.g. smartgrids)• Money/finance/lobbyists/etc• Industrialization• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Oxygen• Translation (ribosomes)• Glycolysis (2011 Science)
• New efficiencies but also instability/fragility• New distributed/layered/complex/active control
Live demo?
![Page 20: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/20.jpg)
costly
fragile
efficient
robust
Tradeoffs(swim/crawl to run/bike)
Function=Locomotion
![Page 21: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/21.jpg)
costly
fragile
efficient
robust
Tradeoffs
4x
>2x
![Page 22: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/22.jpg)
wasteful
fragile
efficient
robust Ideal
Impossible (law)
Actual
Universal laws
![Page 23: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/23.jpg)
wasteful
fragile
efficient
robust Ideal
Impossible (law)
Actual
The risk
![Page 24: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/24.jpg)
wasteful
fragile
efficient
robust Ideal
Impossible (law)
Architecture
Universal laws and architectures
Flexibly achieves what’s possible
![Page 25: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/25.jpg)
wasteful
fragile
efficient
robust Ideal
Impossible (law)
Architecture
Universal laws and architectures
Our heroes
Evolution Complexity
![Page 26: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/26.jpg)
Efficiency/instability/layers/feedback
• Sustainable infrastructure? (e.g. smartgrids)• Money/finance/lobbyists/etc• Industrialization• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Oxygen• Translation (ribosomes)• Glycolysis (2011 Science)
• All create new efficiencies but also instabilities• Needs new distributed/layered/complex/active control
Major transitions
![Page 27: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/27.jpg)
“Nothing in biology makes sense except in the light of evolution.”
T Dobzhansky
“Nothing in evolution makes sense except in the light of biology.”
Tony Dean (U Minn) paraphrasingT Dobzhansky
![Page 28: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/28.jpg)
costly
fragile
efficient
robust
Tradeoffs
4x
>2x
![Page 29: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/29.jpg)
wastefulefficient
Materials and energy have many “universal conservation laws” that limit achievable efficiency.
Perfect efficiency would have zero waste.
Impossible (law)
![Page 30: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/30.jpg)
fragile
robust
Robustness also has “universal conservation laws” that are less familiar…
…though their consequence are surprisingly ubiquitous.
Impossible (law)
![Page 31: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/31.jpg)
• Brains• Nets/Grids (cyberphys)• Bugs (microbes, ants)• Medical physiology• Lots of aerospace• Wildfire ecology• Earthquakes• Physics:
– turbulence, – stat mech (QM?)
• “Toy”: – Lego– clothing, fashion
• Buildings, cities• Synesthesia
fragile
robust
![Page 32: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/32.jpg)
• Neuroscience+ People care
+Live demos!
1. experiments2. data3. theory4. universals
![Page 33: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/33.jpg)
costly
fragile
efficient
robust
Tradeoffs
4x
>2x
Simpler demo?
![Page 34: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/34.jpg)
costly
fragile
efficient
robust
hard
harder
A convenient cartoon
easy
Function=Movement
![Page 35: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/35.jpg)
“costly”
fragile
“efficient?”
robust easy
hard
harder
A convenient cartoon demo
Function=Movement
![Page 36: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/36.jpg)
“costly”
fragile
“efficient”
robust easy
hard
harder
up&short
cartoon demo
down or long
![Page 37: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/37.jpg)
longshort
Impossible
Length is positive(not “waste,” but a cartoon)
cartoon demo
![Page 38: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/38.jpg)
fragile
robust easy
hard
up&short down or long
Gravity is stabilizing
Gravity is destabilizing
Law #1 : MechanicsLaw #2 : Gravity
Universal laws?
![Page 39: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/39.jpg)
Efficiency/instability/layers/feedback
• Sustainable infrastructure? (e.g. smartgrids)• Money/finance/lobbyists/etc• Industrialization• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Oxygen• Translation (ribosomes)• Glycolysis (2011 Science)
• New efficiencies but also instabilities• New distributed/layered/complex/active control
stabilizing
destabilizing
cartoon demo
![Page 40: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/40.jpg)
Gravity is stabilizing
Gravity is destabilizing
Law #1 : MechanicsLaw #2 : Gravity
We think of mechanics and gravity as “obeying universal laws.”
But both “universal” and “law” are confused and overloaded, so unfortunate terminology.
Universal laws?
![Page 41: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/41.jpg)
Gravity is stabilizing
Gravity is destabilizing
Law #1 : MechanicsLaw #2 : Gravity
We think of mechanics and gravity as “obeying universal laws.”
(Generally: constraints)
But the consequences (even of gravity) depend on other constraints.
Universal laws?
![Page 42: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/42.jpg)
fragile
robust
harder
up&short down or long
More unstable
Law #1 : MechanicsLaw #2 : GravityLaw #3 : ??Law #4 : ??
![Page 43: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/43.jpg)
fragile
robust
harder
up&short down or long
hardest!
![Page 44: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/44.jpg)
hard harder hardest!
Easy to prove using simple models.
What is sensed matters.
Why?
Why?!?
![Page 45: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/45.jpg)
fragile
robust
harder
up&short down or long
hardest!
Why?
Accident or necessity?Universal laws?
![Page 46: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/46.jpg)
(4) Universal laws +
vision
Act
delay
+ Neuroscience
Balancing an inverted pendulum
Mechanics+Gravity +Light +
expz p
T pz p
Some minimal math details
![Page 47: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/47.jpg)
easy
hard
Law #1 : MechanicsLaw #2 : Gravity
1d motion
Use “conservation laws”
2cos sin
cos sin 0
sinO
M m x ml u
x l g
y x l
![Page 48: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/48.jpg)
M
m
l
l lengthm massM massg gravityu control force
y
x
u
Standard inverted pendulum
2cos sin
cos sin 0
sinO
M m x ml u
x l g
y x l
![Page 49: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/49.jpg)
easy
hard
Law #1 : MechanicsLaw #2 : Gravity
0
O
M m x ml u
x l g
y x l
linearize
1d motion
2cos sin
cos sin 0
sinO
M m x ml u
x l g
y x l
![Page 50: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/50.jpg)
eye
l
n noisee error
Law #3 : Light (vision)
0
O
M m x ml u
x l g
y x l n
![Page 51: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/51.jpg)
hard harder
Easy to prove using simple models.
Why?vision
Act
delay
Law #3 : Light 0
O
M m x ml u
x l g
y x l n
![Page 52: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/52.jpg)
eye
l
N noiseE error
ET j
N
Frequency domain
?T
![Page 53: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/53.jpg)
eye vision
slow
Act
delay
Control
l
N noiseE error
ET j
N
![Page 54: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/54.jpg)
expT p
Universal laws,art, music, Lego
vision
Act
delay
Balancing an inverted pendulum
Mechanics+Gravity +Light +
1p
l
.3s
![Page 55: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/55.jpg)
22 2
2
2
1
( )
1
OO
O
x ls gu D s s Mls M m g
D s s
l l s gy x l u
D s
g m gp r r z
l M l l
0
O
M m x ml u
x l g
y x l n
Laplace transform
(One complex variable)
![Page 56: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/56.jpg)
2 20
1exp ln exp ln
sup
exp lnexp
pT T j d
p
T T j
Tp
T
Fragility two ways (~ Bode* and Zames):
* With key help from Freudenberg and Seron et al
![Page 57: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/57.jpg)
2 20
1exp ln exp ln
sup
pT T j d
p
T T j
exp ln
expT
pT
Amplification (noise to error)
Entropy rate
Energy (L2)
![Page 58: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/58.jpg)
exp ln
expT
pT
Entropy rate
Energy (L2)
exp pt
delay
Before you can
react
time
state
intuition
![Page 59: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/59.jpg)
10
100
Length, m.1 1.5.2
2
exp p1
pl
.3s
Shorter
Fragile
expT p
![Page 60: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/60.jpg)
10
100
Length, m.1 1.5.2
2
exp p
.3s
.2sSlo
wer
1p
l
expT p
![Page 61: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/61.jpg)
10
Length, m.1 1.5.2
2 loglog
0.2 0.4 0.6 0.8 12
4
6
8
10
linearF
ragile exp p
Fragile
Also exponential
in delay!
![Page 62: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/62.jpg)
exp p
M m gp
Ml
10
Length, m.1 1.5.2
2
0.2 0.4 0.6 0.8 12
4
6
8
10
linearF
ragile
exp p
M
m
l
l lengthm massM massg gravity
Idealized model
![Page 63: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/63.jpg)
exp p
M m gp
Ml
10
Length, m.1 1.5.2
2
0.2 0.4 0.6 0.8 12
4
6
8
10
linearF
ragile
exp p
M
m
l
l lengthm massM massg gravity
exp ln
expT
pT
Essential constraint (“law”):
![Page 64: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/64.jpg)
eye vision
Act
delay
Control
l noise
error
P
+
noise
error
C
ET j
N
![Page 65: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/65.jpg)
P
+
noise
error
C
ET j
N
sup sup Re( ) 0|T T j T s s
Max modulus
Proof?
1
exp
( ) ( ) exp
exp
Ms P s s
T M M p p p
T p
P
1
1
( ) ( )
P p T p
M p p
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s s
![Page 66: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/66.jpg)
P
+
noise
error
C
ET j
N
sup sup Re( ) 0|T T j T s s
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s s
Max modulus
Proof?
M “minimum phase” (stably invertible) “all pass”
![Page 67: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/67.jpg)
P
+
noise
error
C
ET j
N
sup sup Re( ) 0|T T j T s s
Max modulus
1
1
( ) ( )
P p T p
M p p
Proof?
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s s
1
so 1
PCT
PCP p T p
![Page 68: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/68.jpg)
P
+
noise
error
C
ET j
N
sup sup Re( ) 0|T T j T s s
Max modulus
Proof?
1
exp
( ) ( ) exp
exp
Ms P s s
T M M p p p
T p
P
1
1
( ) ( )
P p T p
M p p
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s s
![Page 69: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/69.jpg)
hard harder hardest!
Easy to prove using simple models.
What is sensed matters.
Why?
![Page 70: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/70.jpg)
hard harder hardest!
What is sensed matters.
Unstable poles Unstable zeros
0l l0l l
![Page 71: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/71.jpg)
exp ln
expT z p
pz pT
Fragility two ways (Bode* and Zames):
Unstable zeros
![Page 72: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/72.jpg)
P
+
noise
error
C
sup sup Re( ) 0|T T j T s s
Proof?
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s zs s
s z
1
exp
( ) ( ) exp
exp
M
s zs P s s
s z
z pT M M p p p
z p
z pT p
z p
P
![Page 73: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/73.jpg)
P
+
noise
error
C
sup sup Re( ) 0|T T j T s s
Proof?
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s zs s
s z
1so 1
& 0 0
PCT
PCP p T p
P z T z
![Page 74: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/74.jpg)
P
+
noise
error
C
sup sup Re( ) 0|T T j T s s
Proof?
1
exp
( ) ( ) exp
exp
M
s zs P s s
s z
z pT M M p p p
z p
z pT p
z p
P
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s zs s
s z
![Page 75: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/75.jpg)
expexp
exl
pn z p
pz p
Tp
T
hardest!
0l l
0l l
![Page 76: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/76.jpg)
exp p
expz p
pz p
10
100
Length, m
.1 1.5.22
1p
l
.3s
hardest!hard
expexp
exl
pn z p
pz p
Tp
T
![Page 77: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/77.jpg)
10
100
Speed 1/
.1 1.5.22
.3s
exp p
Slower
vision
Act
delay
Vary delay?
![Page 78: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/78.jpg)
easyharder
“costly”
fragile
“efficient”
robust
Hard tradeoff
![Page 79: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/79.jpg)
“costly”
fragile
“efficient”
robust
Bad design
Gratuitous fragility
![Page 80: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/80.jpg)
“costly”
fragile
“efficient”
robust
exp ln
expz pT
Tp
z p
Same constraints:Mechanics+Gravity+
Different consequences
Constrained sensing
unconstrained
The nature of “laws”
![Page 81: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/81.jpg)
“costly”
fragile
“efficient”
robust easy
hard
harder hardest!
up&short down or long
Different consequences
![Page 82: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/82.jpg)
wasteful
fragile
efficient
robust Ideal
Impossible (law)
Architecture
Universal laws and architectures
Flexibly achieves what’s possible
![Page 83: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/83.jpg)
Cortex
eye vision
Actslow
delay
VOR
fast
Object motion
Head motion
Cerebellum
+
ErrorTune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Highly evolved (hidden)
architecture
![Page 84: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/84.jpg)
Cortex
eye vision
Actslow
delay
VOR
fast
Object motion
Head motion
Cerebellum
+
ErrorTune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
slowest
![Page 85: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/85.jpg)
Cortex
eye vision
Actslow
delay
VOR
fast
Object motion
Head motion
Cerebellum
+
ErrorTune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Delays everywhere
Distributed control
slowest
![Page 86: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/86.jpg)
Cortex
eye vision
Actslow
delay
VOR
fast
Object motion
Head motion
Cerebellum
+
ErrorTune gain
gain
AOS
noise
Act
slowestHeterogeneous
delays everywhere
![Page 87: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/87.jpg)
Efficiency/instability/layers/feedback
• Sustainable infrastructure? (e.g. smartgrids)• Money/finance/lobbyists/etc• Industrialization• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Oxygen• Translation (ribosomes)• Glycolysis (2011 Science)
Major transitions
How universal? Very.
![Page 88: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/88.jpg)
Chandra, Buzi, and Doyle
UG biochem, math, control theory
InsightAccessibleVerifiable
![Page 89: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/89.jpg)
Glycolytic oscillations
• Exhaustively studied– Extensive experiments and data– Detailed models and simulations– Great! But all just deepen the mystery
• Perfectly illustrates “conservation law”• Without which? Bewilderment.
exp ln T z p
z pT
![Page 90: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/90.jpg)
Law #1 : Chemistry (vs mechanics)Law #2 : Autocatalysis (vs gravity)
( RHP p and z)
exp ln T z p
z pT
Law #3:
![Page 91: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/91.jpg)
k
z p
z p
10-1
100
10110
0
101
too fragile
complex
No tradeoff
expensive
fragile
Law #1 : ChemistryLaw #2 : Autocatalysis
( RHP p and z)
Law #3:
exp ln T z p
z pT
![Page 92: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/92.jpg)
Metabolic overhead to make enzymes
fragile
Robust Efficiency in Energy Supply
Robust to in supply and demand
![Page 93: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/93.jpg)
k
z p
z p
10-1
100
10110
0
101
too fragile
complex
No tradeoff
Metabolic overhead to make enzymes
fragile
Robust Efficiency in Energy Supply
Robust to in supply and demand
exp ln T z p
z pT
![Page 94: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/94.jpg)
Core metabolism
Inside every cell (1030)
Metabolic pathways
No architecture
![Page 95: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/95.jpg)
Catabolism
Pre
curs
ors
Carriers
Co-factors
Fatty acids
Sugars
NucleotidesAmino Acids
Metabolic pathways
![Page 96: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/96.jpg)
Co-factors
Fatty acids
Sugars
NucleotidesAmino Acids
Catabolism
Pre
curs
ors
Taxis and transport
Nut
rien
ts
Carriers
Core metabolism
Huge Variety
Same 12
in all cells
Same 8
in all cells
100
» same
in all
organism
s
![Page 97: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/97.jpg)
Co-factors
Fatty acids
Sugars
NucleotidesAmino Acids
Catabolism
Taxis and transport
Nut
rien
ts
Carriers
Core metabolism
Huge Variety
Same 12
in all cells
Same 8
in all cells
100
» same
in all
organism
s
Extremely conserved
core
Pre
curs
ors
![Page 98: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/98.jpg)
Genes
Co-factorsFatty acidsSugars
Nucleotides
Amino Acids
Polymerization and complex
assemblyP
roteinsP
recu
rsor
s
Autocatalytic feedback
Taxis and transport
Nut
rien
ts
Core metabolism
DNA replication
Trans*
Cat
abol
ism
Carriers
100 104 to ∞in one
organisms
Huge Variety
12
8
![Page 99: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/99.jpg)
EfficientRobust
Evolvable
Constrained
DeconstrainedDeconstrained
DiverseDiverse
![Page 100: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/100.jpg)
Inside every cell
Layered architecture
Catabolism
Precursors
Carriers
Biosynthesis
![Page 101: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/101.jpg)
Cat
abol
ism
Pre
curs
ors
Carriers
Inside every cell
Layered architecture
Bio
synt
hesi
sCo-factors
Fatty acids
Sugars
NucleotidesAmino Acids
BiosyntheticPathways
![Page 102: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/102.jpg)
Catabolism
Pre
curs
ors
Carriers
Co-factors
Fatty acids
Sugars
NucleotidesAmino Acids
Inside every cell
Core metabolic bowtieLayered architecture
![Page 103: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/103.jpg)
food
Glucose
Oxygen
OrgansTissuesCellsMolecules
Universal metabolic system
Blood
EfficientRobust
Evolvable
![Page 104: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/104.jpg)
food
Glucose
Oxygen
OrgansTissuesCellsMolecules
Blood
EfficientRobust
Evolvable
Constrained
DeconstrainedDeconstrained
![Page 105: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/105.jpg)
EfficientRobust
Evolvable
Constrained
DeconstrainedDeconstrained
DiverseDiverse
![Page 106: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/106.jpg)
Catabolism
Pre
curs
ors
Carriers
Co-factors
Fatty acids
Sugars
NucleotidesAmino Acids
Inside every cell
Core metabolic bowtieLayered architecture
![Page 107: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/107.jpg)
Catabolism
Pre
curs
ors
Carriers
![Page 108: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/108.jpg)
Catabolism
TCAPyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
NADH
![Page 109: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/109.jpg)
TCAPyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
Pre
curs
ors
metabolites
![Page 110: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/110.jpg)
Enzymatically catalyzed reactions
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
Oxa
Cit
ACA
![Page 111: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/111.jpg)
Enzymes (implement) catalyze
(virtual) reactions
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
Oxa
Cit
ACA
![Page 112: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/112.jpg)
TCAPyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
Autocatalytic
NADH
produced
consumedRest of cell
![Page 113: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/113.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Autocatalysis
Control
Feedbacks
![Page 114: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/114.jpg)
TCAPyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
![Page 115: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/115.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Unreadable
Why so complex?
![Page 116: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/116.jpg)
source receiver
signalinggene expression
metabolismlineage
Biological pathways
![Page 117: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/117.jpg)
source receiver
control
energy
materials
signalinggene expression
metabolismlineage
More complex
feedback
![Page 118: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/118.jpg)
Chandra, Buzi, and Doyle
UG biochem, math, control theory
Most important paper so far.
![Page 119: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/119.jpg)
Universal laws?
10
100
Length, m
.1 1.5.22
k10-1
100
10110
0
101
expensive
fragile
exp ln
expT z p
pz pT
wasteful
fragile
efficient
robust Ideal
![Page 120: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/120.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Autocatalysis
Control
Feedbacks
Robust=maintain energy charge w/fluctuating cell demand
Efficient=minimize metabolic waste and overhead
![Page 121: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/121.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
F6P
F1-6BP
Gly3p
13BPG
3PG
ATP
Autocatalysis
Control
PEP2PG Pyr
Minimal model?
![Page 122: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/122.jpg)
F6P
F1-6BP
Gly3p
13BPG
3PG
ATP
F6P
F1-6BP
Gly3p
13BPG
3PG
ATP
ControlPlus Autocatalytic Feedback
PEP Pyr
Rest of cell
Minimal model ~1 equilibrium 2 metabolites 3 “reactions”
![Page 123: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/123.jpg)
F6P
F1-6BPATP
![Page 124: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/124.jpg)
F6P
F1-6BPGly3p
13BPG
3PG
ATP
produced
consumed
Cell
PEPPyr
lump
Minimal model ~1 equilibrium 2 metabolites 3 “reactions”
![Page 125: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/125.jpg)
Fragile
Robust
ATP Rest of cell
energy
ATP
disturbance
Robust = Maintain energy
(ATP concentration) despite demand fluctuation
Hard tradeoff in glycolysis
![Page 126: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/126.jpg)
Fragile
Robust
disturbance
Robust Disturbance rejection
Accurate
What makes this hard?1. Instability (autocatalysis)2. Delay (enzyme amount)
Accurate vs sloppy
![Page 127: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/127.jpg)
Fragile
Robust
What makes this hard?
1. Instability2. Delay
The CNS must cope with both!
![Page 128: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/128.jpg)
ATP
Reaction 2 (“PK”)
Reaction 1 (“PFK”) energy
enzymes catalyze reactions
Rest of cell
![Page 129: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/129.jpg)
ATP
Rest of cell
Reaction 2 (“PK”)
Reaction 1 (“PFK”)
Protein biosyn
energy
enzymes
enzymes
enzy
mes
Efficient = low metabolic overhead low enzyme amount
enzymes catalyze reactions, another
source of autocatalysis
![Page 130: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/130.jpg)
ATP
Rest of cell
Protein biosyn
energy
enzymes
enzymes
enzy
mes
Efficient = low metabolic overhead» low enzyme amount( slow reactions)
enzymes catalyze reactions, another
source of autocatalysis
Can’t make too many enzymes here, need to supply rest of the cell.
reaction rates
enzyme amount
![Page 131: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/131.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Autocatalysis
Control
ATP
Rest of cell
Reaction 2 (“PK”)
Reaction 1 (“PFK”)
Protein biosyn
Autocatalysis
![Page 132: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/132.jpg)
Autocatalysis
• Sustainable infrastructure? (e.g. smartgrids)• Money/finance/lobbyists/etc• Industrialization• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Oxygen• Translation (ribosomes)• Glycolysis (2011 Science)
• New forms important in most transitions• Major and poorly studies source of instability
Major transitions
![Page 133: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/133.jpg)
k
z p
z p
10-1
100
10110
0
101
too fragile
complex
No tradeoff
Metabolic overhead to make enzymes
fragile
Robust Efficiency in Energy Supply
Robust to in supply and demand
exp ln T z p
z pT
![Page 134: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/134.jpg)
k
z p
z p
10-1
100
10110
0
101
too fragile
complex
No tradeoff
Metabolic overhead
fragile
Robust to in supply and demand
Uncertain k
![Page 135: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/135.jpg)
What (some) reviewers say• “…to establish universality … is simply wrong. It
cannot be done…• … a mathematical scheme without any real
connections to biological or medical… • …universality is well justified in physics… for
biological and physiological systems …a dream …never be realized, due to the vast diversity in such systems.
• …does not seem to understand or appreciate the vast diversity of biological and physiological systems…
• …a high degree of abstraction, which …make[s] the model useless …
![Page 136: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/136.jpg)
What (some) reviewers say• “…to establish universality … is simply wrong. It
cannot be done…• … a mathematical scheme without any real
connections to biological or medical… • …universality is well justified in physics… for
biological and physiological systems …a dream …never be realized, due to the vast diversity in such systems.
• …does not seem to understand or appreciate the vast diversity of biological and physiological systems…
• …a high degree of abstraction, which …make[s] the model useless …
If you agree• You’re in good company • Stay off commercial aircraft
![Page 137: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/137.jpg)
k
z p
z p
10-1
100
10110
0
101
too fragile
complex
No tradeoff
Metabolic overhead
fragile
Robust to in supply and demand
Uncertain k
![Page 138: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/138.jpg)
M
m
l
l lengthm massM massg gravityu control force
y
x
u
Standard inverted pendulum
2
sin
cos sin 0
cos sin
Oy x l n
x l g
M m x ml u
Uncertainty?
![Page 139: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/139.jpg)
eye vision
Act
delay
Control
l noise
error
In our model?In our brain?In our brain’s model?
• Parameters• Noise• Unmodeled dynamics
2
sin
cos sin 0
cos sin
Oy x l n
x l g
M m x ml u
Uncertainty?
![Page 140: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/140.jpg)
In our model?In our brain?In our brain’s model?
• Parameters (real)• Noise (additive)• Unmodeled dynamics (complex)• Nonlinear dynamics
2
sin
cos sin 0
cos sin
Oy x l n
x l g
M m x ml u
Uncertainty?
AnalysisLimits/lawsSynthesis
![Page 141: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/141.jpg)
controls
external disturbances
heart rateventilation
errors
O2BP
energy
Homeostasis and HRV
![Page 142: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/142.jpg)
0 100 200 300 4000 100 200 300 400
40
60
80
100
120
140
160
180
HR
High mean, low variability
Low mean, high variability
The persistent mysteryYoung, fit, healthy more extreme
Seeking mechanistic explanations
sec
![Page 143: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/143.jpg)
0 100 200 300 4000 100 200 300 400
40
60
80
100
120
140
160
180
HRHigh mean, low variability
Low mean, high variability
sec
controls
external disturbances
heart rateventilation
errors
O2BP
energy
Finally!
Homeostasis and HRV
![Page 144: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/144.jpg)
sensor
controls
external disturbances
heart rateventilationvasodilationcoagulationinflammationdigestionstorage…
errors
O2BPpHGlucoseEnergy storeBlood volume…
infection
traumaenergy
Homeostasis and robust efficiency
internal noise
heart beatbreath
Mechanistic physiology
![Page 145: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/145.jpg)
The main tradeoff: Robust efficiency
Mechanistic physiology + rigorous math and stats
![Page 146: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/146.jpg)
sensor
controls
external disturbances
heart rateventilationvasodilationcoagulationinflammationdigestionstorage…
errors
O2BPpHGlucoseEnergy storeBlood volume…
infection
traumaenergy
Homeostasis
internal noise
heart beatbreath
costly
fragile
efficient
robust
Tradeoffs:• physiology • evolution • ecologically
relevant
Mechanistic physiology + rigorous math and stats
![Page 147: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/147.jpg)
controls
external disturbances
heart rateventilation
errors
O2BP
energy
Homeostasis
![Page 148: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/148.jpg)
Muscle
Lung
W
H
EV
CBF
H
sR
pump
pump
dilate
dilate
high variability
Disturbance: W
SaO2
Pas
O2
CBF
Health low variability
Why?
flow
pressure
O2
O2
Minimal cartoon
![Page 149: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/149.jpg)
pump
pump
dilate
dilate
high variability
Disturbance:run
Healthy homeostasis
low variability
flow
pressure
O2
O2
Minimal cartoon
actuators
regulated variables
![Page 150: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/150.jpg)
pump
pump
dilate
dilate
high variability Healthy homeostasis
low variability
flow
pressure
O2
O2
Minimal cartoon
+
actuators
regulated variablesDisturbance
![Page 151: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/151.jpg)
0 100 200 300 4000 100 200 300 400
40
60
80
100
120
140
160
180
HR
High mean, low variability
Low mean, high variability
The persistent mysteryYoung, fit, healthy more extreme
Seeking mechanistic explanations
sec
![Page 152: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/152.jpg)
actuators(controls)
+
(outputs)regulated variables
Disturbance
low variability errors+ large disturbances high variability controls
Universals
![Page 153: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/153.jpg)
low variability errors+ large noise/delay high variability controls
Universals
Is loss of actuator
variability a precursor
of a crash?
eye vision
Act
delay
Control
l noise
error
Control actuators
![Page 154: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/154.jpg)
Universal laws
10
100
Length, m
.1 1.5.22
k10-1
100
10110
0
101
expensive
fragile
wasteful
fragile
efficient
robust
sensor
controlsheart rateventilationvasodilationcoagulationinflammationdigestionstorage…
errors
O2BPpHGlucoseEnergyBlood vol
infection
traumaenergy
heart beatbreath
Homeostasis
![Page 155: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/155.jpg)
Universal laws
10
100
Length, m
.1 1.5.22
k10-1
100
10110
0
101
expensive
fragile
wasteful
fragile
efficient
robust
sensor
controlsheart rateventilationvasodilationcoagulationinflammationdigestionstorage…
errors
O2BPpHGlucoseEnergyBlood vol
infection
traumaenergy
heart beatbreath
Homeostasis
Do these oscillations have a function/purpose?
Is loss of actuator variability a precursor?
![Page 156: John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE](https://reader036.vdocuments.net/reader036/viewer/2022070418/56815794550346895dc527f0/html5/thumbnails/156.jpg)
eye vision
Act
delay
Control
l noise
error ET j
N
P
+
noise
error
C
Understand this more deeply?
+ Neuroscience
Mechanics+Gravity +
Light +Control theory
exp ln
expT z p
pz pT