From a9f3548222b4a2160fb604021686b62e760cc3dd Mon Sep 17 00:00:00 2001 From: "John U. Balis" Date: Fri, 23 Jun 2023 04:03:34 -0400 Subject: [PATCH] small formatting change and typo fix --- docs/tutorials/dataset_creation/point_maze_dataset.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/tutorials/dataset_creation/point_maze_dataset.py b/docs/tutorials/dataset_creation/point_maze_dataset.py index c05c0da7..d1a2e924 100644 --- a/docs/tutorials/dataset_creation/point_maze_dataset.py +++ b/docs/tutorials/dataset_creation/point_maze_dataset.py @@ -169,8 +169,8 @@ def _check_valid_cell(self, cell): # A PD controller is a variation of the PID controller often used in classical Control Theory. # PID combines three components Proportial Term(P), Integral Term(I) and Derivative Term (D) # -# 1. Proportial Term(P) -# ~~~~~~~~~~~~~~~~~~~ +# 1. Proportional Term (P) +# ------------------- # The proportional term in a PID controller adjusts the control action based on the current error, which # is the difference between the desired value (setpoint) and the current value of the process variable. # The control action is directly proportional to the error. A higher error results in a stronger control action. @@ -181,7 +181,7 @@ def _check_valid_cell(self, cell): # \tau = k_{p}(Error) # # 2. Derivative Term (D) -# ~~~~~~~~~~~~~~~~~~~ +# ------------------- # The derivative term in a PD controller considers the rate of change of the error over time. # It helps to predict the future behavior of the error. By dampening the control action based # on the rate of change of the error, the derivative term contributes to system stability and reduces overshooting. @@ -198,7 +198,7 @@ def _check_valid_cell(self, cell): # \tau = k_{p}(Error) + k_{d}(d(Error) / dt) # # 3. Integral Term (I) -# ~~~~~~~~~~~~~~~~~~~ +# ------------------- # The integral term in a PID controller integrates the cumulative error over time. # It helps to address steady-state errors or biases that may exist in the system. # The integral term continuously adjusts the control action based on the accumulated error,