Perceptual control theory (PCT) is a model of behavior based on the properties of negative feedback control loops. A control loop maintains a sensed variable at or near a reference value by means of the effects of its outputs upon that variable, as mediated by physical properties of the environment. In engineering control theory, reference values are set by a user outside the system. An example is a thermostat. In a living organism, reference values for controlled perceptual variables are endogenously maintained. Biological homeostasis and reflexes are simple, low-level examples. The discovery of mathematical principles of control introduced a way to model a negative feedback loop closed through the environment (circular causation), which spawned perceptual control theory. It differs fundamentally from theories of behaviorism and cognitive psychology which model stimuli as causes of behavior (linear causation). PCT research is published in experimental psychology, neuroscience, ethology, anthropology, linguistics, sociology, robotics, developmental psychology, organizational psychology and management, and a number of other fields. PCT has been applied to design and administration of educational systems, and has led to a psychotherapy called the method of levels. History PCT has roots in physiological insights of Claude Bernard and in 20th century in the research by Walter B. Cannon and in the fields of control systems engineering and cybernetics. Classical negative feedback control was worked out by engineers in the 1930s and 1940s, and further developed by Wiener, Ashby, and others in the early development of the field of cybernetics. Beginning in the 1950s, William T. Powers applied the concepts and methods of engineered control systems to biological control systems, and developed the experimental methodology of PCT. 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. In PCT it is the internal representation of the state of some variable in the environment—a "perception" in everyday language—that is controlled. The basic principles of PCT were first