It’s called adaptive control theory [0] and has already been in use for decades in robotics, aviation, and so on. Whether you want to start calling solving cons

It’s called adaptive control theory [0] and has already been in use for decades in robotics, aviation, and so on. Whether you want to start calling solving constraint equations “self-awareness” is another story. The short description: you have an initial idea of the state (an estimate) and you take sensory input (literally from sensors like thermometers, cameras, potentiometers, etc.) and solve constraint equations that both refine the estimate of the system as well as tell the system what to do to achieve some objective. The objective could be something like prevention of an inverted pendulum attached to an electric motor from falling over. [0]: https://en.m.wikipedia.org/wiki/Adaptive_control https://en.m.wikipedia.org/wiki/Adaptive_control