This paper presents a review of recent studies of the human controller both in psychology and in control engineering. Theoretical and technological problems in the study of skilled behaviour are first discussed, and the desirable constraints upon any "model" are outlined. The foundations of linear continuous modelling of the human controller and experimental data on the validity and utility of linear models are then reviewed. The evidence for nonlinear and discontinuous behaviour in the human controller is then outlined, and studies of non-linear models based on modern optimal and sampled-data control theory are then presented.
The Study of Perceptual-motor SkillsAlthough human cognitive skills and verbal behaviour are generally assumed to involve higher level processes and to be more complex than human perceptual-motor behaviour (for example, Bartlett (1958) has suggested that the analysis of human problem-solving behaviour is simplified by regarding it as a "high-level skill"), in practice a far greater effort has been applied to the study of the cognitive skills involved in learning and remembering verbal material, and in problem-solving, than to the perceptual-motor skills involved in such tasks as flying, driving and typing. Part of this emphasis stems from the philosophical origins of psychology and the associated emphasis on studies of human conscious thought processes; but the continued relative neglect of perceptual-motor skills must have a more fundamental cause, since it would seem reasonable for a logical development of experimental psychology to treat the problems of perceptual-motor co-ordination involved in driving and flying, before investigating the far more complex problems of verbal behaviour and problem-solving.There are two main reasons for this disparity in the amount of effort expended on studies of human cognitive skills on the one hand, and perceptual-motor skills on the other. First, perceptual-motor skills cannot generally be verbalized and introspective analysis is misleading, if not impossible. Although, in modern experimental psychology, introspection is discounted as a source of information about human behaviour, in practice it is an important source of hypotheses and experimental designs, even if reference to it is carefully eradicated from published results. Although there is considerable coupling between verbal instructions and the learning, and performance, of perceptual-motor skills, this is not so strong as in cognitive skills more closely related to the use of language, and the lack of verbalization deprives the worker on perceptualmotor skills of two major sources of information-his own experience, and the introspective analysis of others.The second reason for a disparity of effort and achievement between studies of cognitive skills and perceptual-motor skills is, to a large extent, technological. Perceptual-motor skills are externally paced and the operator is essentially on-line, with the detailed time-patterns of his visual inputs and manual outputs being a major aspect ...