From ecb8324a6c85efe6cf629f6c6cd09d72134a022f Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Sun, 20 Aug 2017 22:39:30 +0200
Subject: [PATCH] Update readme
---
README.md | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/README.md b/README.md
index 96ed335..5d2dafb 100644
--- a/README.md
+++ b/README.md
@@ -20,12 +20,12 @@ line of code :)
3. Create a new file under `/interface_implementations` where you paste all the
copied definitions and implement them. See [`/interface_implementations/ballandbeam.jl`](https://gitlab.control.lth.se/processes/LabProcesses.jl/blob/master/src/interface_implementations/ballandbeam.jl) for an example.
4. Above all function implementations you must define the process type, e.g,
-```julia
-struct BallAndBeam <: PhysicalProcess
- h::Float64
-end
-BallAndBeam() = BallAndBeam(0.01) # Constructor with default value of sample time
-```
+ ```julia
+ struct BallAndBeam <: PhysicalProcess
+ h::Float64
+ end
+ BallAndBeam() = BallAndBeam(0.01) # Constructor with default value of sample time
+ ```
Make sure you inherit from `PhysicalProcess` or `SimulatedProcess` as appropriate.
5. Documentation of all interface functions is available in the file [interface_documentation.jl](https://gitlab.control.lth.se/processes/LabProcesses.jl/blob/master/src/interface_documentation.jl)
@@ -51,12 +51,13 @@ end
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. Usage is demonstrated below
+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
```julia
stateC = init_sysfilter(C)
function control(i)
e = r[i]-y[i]
- ui = sysfilter!(stateC, C, e)
+ u = sysfilter!(stateC, C, e)
end
```
`C` must here be represented by a [`StateSpace`](@ref) type from [`ControlSystems.jl`](https://github.com/JuliaControl/ControlSystems.jl).
--
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