From e9990584724ccc6b54db2480874182a19c79a595 Mon Sep 17 00:00:00 2001
From: Julian Salt <juliansaltducaju@gmail.com>
Date: Mon, 26 Aug 2019 13:53:42 +0200
Subject: [PATCH] Update furuta.jl
---
src/interface_implementations/furuta.jl | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl
index f3274cc..2f2ee62 100644
--- a/src/interface_implementations/furuta.jl
+++ b/src/interface_implementations/furuta.jl
@@ -78,7 +78,8 @@ bias(p::AbstractFuruta) = p.bias
function control(p::AbstractFuruta, u::AbstractArray)
length(u) == 1 || error("Process $(typeof(p)) only accepts one control signal, tried to send u=$u.")
- control(p,u[1])
+ a::Float64 = -1.4*u[1]
+ control(p,a)
end
control(p::AbstractFuruta, u::Number) = send(p.control,u)
--
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