Briefly, then decided it was mostly Wiener’s delusions of grandeur picked up by people who he could easily bullshit, adding very little to the basic engineering subject. Did have a paper in IEEE systems, cybernetics, and man journal though :)
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That’s a good example to see the differences. In control theory the statement is called the internal model principle and is used in actual design. Like to design a system that rejects a sinusoid disturbance you’d put an oscillator in. The cybernetics version is more a zen koan.
I just remembered I wrote a thing about it so I don’t have to rehash my critique 
https://www.ribbonfarm.com/2019/07/17/weirding-diary-9/ …