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A key insight of PCT is that the controlled variable is not the output of the system (the behavioral actions), but its input, that is, a sensed and transformed function of some state of the environment that the control system's output can affect. Because these sensed and transformed inputs may appear as consciously perceived aspects of the environment, Powers labelled the controlled variable "perception". The theory came to be known as "Perceptual Control Theory" or PCT rather than "Control Theory Applied to Psychology" because control theorists often assert or assume that it is the system's output that is controlled.<ref name=Astrom>{{cite book | last1 =Astrom | first1 =Karl J. | last2 =Murray | first2 =Richard M. | title =Feedback Systems: An Introduction for Scientists and Engineers | publisher =Princeton University Press | date =2008 | url =http://www.cds.caltech.edu/~murray/books/AM08/pdf/am08-complete_28Sep12.pdf | isbn =978-0-691-13576-2 }}</ref> In PCT it is the internal representation of the state of some variable in the environment—a "perception" in everyday language—that is controlled.<ref>For additional information about the history of PCT, see:
* [http://www.pctweb.org/BillPowersAudioInterview1.mp3 Interview with William T. Powers on origin and history of PCT (Part One – 20060722 (58.7M)]
* [http://www.pctweb.org/BillPowersAudioInterview2.mp3 Interview with William T. Powers on origin and history of PCT (Part Two – 20070728 (57.7M)]</ref> The basic principles of PCT were first published by Powers, Clark, and MacFarland as a "general feedback theory of behavior" in 1960,<ref name=PCM1960>{{cite journal | last1 =Powers | first1 =William T. | last2 =Clark | first2 =R.K. | last3 =McFarland | first3 =R.L. | title =A general feedback theory of human behavior (Part I) | journal =Perceptual and Motor Skills | volume =11 | issue =1 | pages =71–88 | date =1960 | doi = 10.2466/pms.1960.11.1.71| s2cid =145256548 }} and {{cite journal | last1 =Powers | first1 =William T. | last2 =Clark | first2 =R.K. | last3 =McFarland | first3 =R.L. | title =A general feedback theory of human behavior (Part II) | journal =Perceptual and Motor Skills | volume =11 | issue =3 | pages =309–323 | date =1960 | doi = 10.2466/pms.1960.11.3.309| s2cid =220712715 }} [Reprinted in {{citation | last1 =Bertalanffy | first1 =Ludwig von | last2 =Rapoport | first2 =Anatol | title =General Systems: Yearbook of the Society for General Systems Research | place =Ann Arbor, Michigan | publisher =Society for General Systems Research | volume =5 | year =1960 }}, pages 63-73, 75-83. Partial reprint in {{cite book | last =Smith | first =A. G. | title =Communication and Culture | publisher =Holt, Rinehart, and Winston | date =1966 | ___location =New York | url =https://archive.org/details/communicationcul00smit| url-access =registration }}]</ref> with credits to cybernetic authors [[Norbert Wiener|Wiener]] and [[William Ross Ashby|Ashby]]
Powers and other researchers in the field point to problems of purpose, causation, and teleology at the foundations of psychology which control theory resolves.<ref>{{cite journal |last1=Powers |first1=William T. |date=1978 |title=Quantitative analysis of purposive systems: Some spadework at the foundations of scientific psychology |journal=Psychological Review |volume=85 |issue=5 |pages=417–435 |doi=10.1037/0033-295X.85.5.417 }}</ref> From [[Aristotle]] through [[William James]] and [[John Dewey]] it has been recognized that behavior is purposeful and not merely reactive, but how to account for this has been problematic because the only evidence for intentions was subjective. As Powers pointed out, behaviorists following [[Wilhelm Wundt|Wundt]], [[Edward Thorndike|
Another, more specific reason that Powers observed for psychologists' rejecting notions of purpose or intention was that they could not see how a goal (a state that did not yet exist) could cause the behavior that led to it. PCT resolves these philosophical arguments about [[teleology]] because it provides a model of the functioning of organisms in which purpose has objective status without recourse to [[introspection]], and in which causation is circular around [[feedback loops]].<ref name=Runkel-PLT>{{cite book | last =Runkel | first =Philip J. | title =People as living things | publisher =Living Control Systems Publishing | date =2003 | ___location =Hayward, CA | isbn =978-0-9740155-0-7 }}</ref>
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