Yes, that's what I meant in my footnote no. 2. I was just trying to avoid spoilers - but since the whole subthread subsequently has been: both Seldon and Asimov demonstrated their understanding of chaotic systems by creating the Second Foundation, whose purpose was to maintain Seldon's plan as a closed-loop optimization system, despite the Foundation (and initially, the reader) believing it was an open-loop, fire-and-forget one.