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@@ -1,6 +1,6 @@
 ---
-title: 'Under Control: A Control Theory introduction for Computer Scientists'
-short_title: 'Under Control: A Control Theory introduction for Computer Scientists'
+title: 'Under Control: A Control Theory Introduction for Computer Scientists'
+short_title: 'Under Control: A Control Theory Introduction for Computer Scientists'
 subtitle: 'First try'
 date: 21/04/2023
 affiliations:
@@ -18,6 +18,7 @@ affiliations:
           lastname: Rutten
 header-includes:
     - \usepackage{tikz}
+    - \usepackage{hyperref}
     - \usepackage{subcaption}
     - \usepackage{MnSymbol,wasysym}
 # lang: en
@@ -96,17 +97,49 @@ Use the knowledge about the current state of the system to respond
   
 - main tool: MAPE-K loop
 
-- $\neq$ implementations of Autonomic Controller (rules, AI, control)
+- $\neq$ implementations of AC (rules, AI, control)
+
+- Separation of concerns
 
 
 :::
 ::::::::::::::
 
+# Examples
+
+- Regulate the heat of a processor based on its frequency
+
+  - Sensor: CPU thermometer
+  
+  - Actuator: DVFS
+  
+- Regulate the waiting time of users based on the number of available servers
+
+  - Sensor: Waiting time of a request
+  
+  - Actuator: Number of servers to add/remove
+  
+- Regulate the FPS of an online video rendering based on the quality
+
+  - Sensor: FPS
+  
+  - Actuator: depth of computation
+
 
 
 # Control Theory
 
 
+## Goal
+
+Act on dynamic system to reach desired behavior with guarantees
+
+## Control Loop
+
+![Control Loop](figs/control_loop.pdf){width=40% height=25%}
+
+
+
 # Your turn! 
 
 ## What you will do now