diff --git a/README.md b/README.md
index 938d746b39c53896014481fe1ffb0d50b057e889..63132084a561d490194a5daa775c9d51a35a2ca3 100644
--- a/README.md
+++ b/README.md
@@ -41,9 +41,9 @@ with a sample time of `h` seconds.
 ```julia
 for (i,t) = enumerate(0:h:duration)
     @periodically h begin
-        y[i]       = measure(P)
-        r[i]       = reference(t)
-        u[i]       = control(i)
+        y[i] = measure(P)
+        r[i] = reference(t)
+        u[i] = control(i)
         control(P, u[i])
     end
 end
@@ -57,8 +57,8 @@ Usage is demonstrated below
 ```julia
 stateC = init_sysfilter(C)
 function control(i)
-    e  = r[i]-y[i]
-    u  = sysfilter!(stateC, C, e)
+    e = r[i]-y[i]
+    u = sysfilter!(stateC, C, e)
 end
 ```
 `C` must here be represented by a [`StateSpace`](http://juliacontrol.github.io/ControlSystems.jl/latest/lib/constructors/#ControlSystems.ss) type from [`ControlSystems.jl`](https://github.com/JuliaControl/ControlSystems.jl).
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index df0f70dacd65925d9821dd1abf3db85c302b5eb3..e7cc583025c3fc871b1f54e90860fa1242b7ff4a 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -1,3 +1,5 @@
+__precompile__()
+
 module LabProcesses
 
 using ControlSystems
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index 3bbe8f6dadaf48975fb674845f0931ce09d2cf7d..e06bda518d12b580ca890f97fd658b725d78a3ec 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -18,7 +18,7 @@ num_inputs(p::BallAndBeamType)  = 1
 outputrange(p::BallAndBeamType) = [(-10,10),(-1,1)] # Beam angle, Ball position
 inputrange(p::BallAndBeamType)  = [(-10,10)]
 isstable(p::BallAndBeamType)    = false
-isstable(p::BallAndBeamType)    = false
+isasstable(p::BallAndBeamType)  = false
 sampletime(p::BallAndBeamType)  = p.h
 
 control(p::BallAndBeam, u)  = ccall((:comedi_write, comedipath),Int32,