README layout fix again

Author: askuric

README.md

@@ -563,26 +563,40 @@ In order to get optimal performance you will have to fiddle a bit with with the
 
 #### Control theory lovers corner :D
 Transfer funciton of the PI contorller this library implements is:
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 <p><img src="./extras/Images/cont_PI.png" /></p>
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 Continiuos PI is discretized using Tustin transform. The final discrete equation becomes:
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 <p><img src="./extras/Images/dis_PI.png" /></p>
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 Where the <i>u(k)</i> is the control signal (voltage <i>U<sub>q</sub></i> in our case) in moment <i>k</i>, <i>e(k),e(k-1)</i> is the tracking error in current moment <i>k</i> and previous step <i>k-1</i>. Tracking error presents the difference in between the target velocity value <i>v<sub>d</sub></i> and measured velocity <i>v</i>. 
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 <p><img src="./extras/Images/track.png" /></p>
 
 Transfer funciton of the Low pass filter is contorller is:
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 <p><img src="./extras/Images/cont_LPF.png" /></p>
 In it discrete form it becomes:
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 <p><img src="./extras/Images/dis_LPF.png" /></p>
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 where <i>v<sub>f</sub>(k)</i> is filtered velocity value in moment <i>k</i>, <i>v(k)</i> is the measured velocity in the moment <i>k</i>, <i>T<sub>f</sub></i> is the filter time constant and <i>T<sub>s</sub></i> is the sampling time (or time in between executions of the equation).
 This low pass filter can be also written in the form:
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 <p><img src="./extras/Images/LPF_alpha.png" /></p>
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 where:
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 <p><img src="./extras/Images/alpha.png" /></p>
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 This makes it a bit more clear what the time constat `Tf` of the Low pass filter stands for. If your sample time is around 1millisecond (for arduino UNO this can be taken as an average) then setting the
 `Tf` value to `Tf = 0.01` will result in:
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 ```cpp
 alpha = 0.01/(0.01 + 0.001) = 0.91
 ```
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 Which means that your actual velocity measurement <i>v</i> will influence the filtered value <i>v<sub>f</sub><i> with the coeficient `1-alpha = 0.09` which is going to smooth the velocity values considerably (maybe even too muuch, depends of the application).