In the conventional picture of quantum feedback control, sensors perform me
asurements on the system, a classical controller processes the results of t
he measurements, and actuators supply semiclassical potentials to alter the
behavior of the quantum system. In this picture, the sensors tend to destr
oy coherence in the process of making measurements, and although the contro
ller can use the actuators to act coherently on the quantum system, it is p
rocessing and feeding back classical information. This paper proposes an al
ternative method for quantum feedback control, in which the sensors, contro
ller, and actuators are quantum systems that interact coherently with the s
ystem to be controled. In this picture, the controller gets, processes, and
feeds back quantum information. Controllers that operate using such quantu
m feedback loops can perform tasks such as entanglement transfer that are n
ot possible using classical feedback. Necessary and sufficient conditions a
re presented for Hamiltonian quantum systems to be controllable and observa
ble using both classical and quantum feedback.