Suggestions

Hi Tanuj,

I have read your work, and I think it is a very good draft, very informative. My part is about the control theory and I also shared your link in my page. I like your example of the robot, which is very detailed and make the hierarchical strategy and design mode easy to understand.

Here is some suggestions:

1. Is it better to move the background knowledge to the very beginning? which would make it easy for the readers to get well prepared.

2. Can you add some additional information on the other kinds of design model, like centralized control or else, to compare with the hierarchical design pattern, and specify more on what kind of systems would should be designed in hierarchy, and why, and what kind should not be designed in hierarchy, I think most people would focus more on the choice of the design pattern.

Thank you for your comments Dandan. For other design models I would include them as well as share your page link where you have already explained them in detail.