From a38c1b066689a2852277544df3f5db162e723014 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 20:36:49 +0200
Subject: [PATCH] Update README
---
README.md | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
diff --git a/README.md b/README.md
index 89227ea..60a77df 100644
--- a/README.md
+++ b/README.md
@@ -54,7 +54,7 @@ for (i,t) = enumerate(0:h:duration)
@periodically h begin
y[i] = measure(P)
r[i] = reference(t)
- u[i] = control(i)
+ u[i] = calc_control(i,y,r)
control(P, u[i])
end
end
@@ -64,13 +64,17 @@ Often one finds the need to implement a stateful controller, i.e., a function
that has a memory or state. To this end, the function [`sysfilter`](@ref) is
provided. This function is used to implement control loops where a signal is
filtered through a dynamical system, i.e., `U(z) = C(z)E(z)`.
-Usage is demonstrated below
+Usage is demonstrated below, which is a simplified implementation of the block
+diagram above (transfer function- and signal names corresponds to the figure).
```julia
-stateC = init_sysfilter(C)
+stateG1 = init_sysfilter(G1)
+stateG4 = init_sysfilter(G4)
function control(i)
- e = r[i]-y[i]
- u = sysfilter!(stateC, C, e)
+ rf = sysfilter!(stateG4, G4, r)
+ e = rf-y
+ u = sysfilter!(stateG1, G1, 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).
+`G1` and `G4` must here be represented by [`StateSpace`](http://juliacontrol.github.io/ControlSystems.jl/latest/lib/constructors/#ControlSystems.ss) types from [`ControlSystems.jl`](https://github.com/JuliaControl/ControlSystems.jl).
`TransferFunction` types can easily be converted to a `StateSpace` by `Gss = ss(Gtf)`.
+Continuous time systems can be discretized using `Gd = c2d(Gc, h)`. (The sample time of a process is available through `h = sampletime(P)`.)
--
GitLab