Commit 66cd76ae authored by Fredrik Bagge Carlson's avatar Fredrik Bagge Carlson
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Update headers

parent 6e31af34
Pipeline #577 canceled with stage
......@@ -21,7 +21,7 @@ line of code :)
to get the latest release.
2. Install LabProcesses.jl using command `Pkg.clone("https://gitlab.control.lth.se/processes/LabProcesses.jl.git")` Lots of packages will now be installed, this will take some time. If this is your first time using Julia, you might have to run `julia> Pkg.init()` before you install any packages.
## How to implement a new process
# How to implement a new process
1. Locate the file [interface.jl](https://gitlab.control.lth.se/processes/LabProcesses.jl/blob/master/src/interface.jl). When the package is installed, you find its directory under `~/.julia/v0.6/LabProcesses/`, if not, run `julia> Pkg.dir("LabProcesses")` to locate the directory.
(Alternatively, you can copy all definitions from [/interface_implementations/ballandbeam.jl](https://gitlab.control.lth.se/processes/LabProcesses.jl/blob/master/src/interface_implementations/ballandbeam.jl) instead. Maybe it's easier to work from an existing implementaiton.)
2. Copy all function definitions.
......@@ -44,7 +44,7 @@ methods. See [Types in julia documentation](https://docs.julialang.org/en/stable
for additional info regarding user defined types and (constructors)[https://docs.julialang.org/en/stable/manual/constructors/].
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)
## Control a process
# How to control a process
The interface `AbstractProcess` defines the functions `control(P, u)` and `measure(P)`.
These functions can be used to implement your own control loops. A common loop
with a feedback controller and a feedforward filter on the reference is implemented
......@@ -109,8 +109,8 @@ is essentially (simplified)
```julia
function Gf(input)
sys = Gf.sys
Gf.state .= sys.A*Gf.state + sys.B*input
output = sys.C*Gf.state + sys.D*input
Gf.state .= sys.A*Gf.state + sys.B*input
output = sys.C*Gf.state + sys.D*input
end
```
hence, it just performs one iteration of
......
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