What is qualitative reasoning, and can we use it for control?

The author presents the basic concepts of qualitative reasoning (QR) and then looks at what one needs to do to use it for control. In QR, physical problems are treated as a general domain and the ideas of forces and other physical phenomena are incorporated into the problem solving structure itself. It is suggested that, in order to reason about control within this framework, the framework needs to include feedback and learning capabilities and to relax some of its assumptions