Improvements derived from semestral work

Dobrý den,

zkusil jsem posbírat a uklidit skripty, které jsem v semestrálce použil.

JV

software/students/README.md

@@ -55,10 +55,11 @@ Two state space formats are used here:
    - `dzs` = speed of the upper mass.
    - `zus-zr` = distance of lowre mass and the road platform wrt. its idle value.
    - `dzus` = speed of the lower mass.
-   This state space might be more useful for controller design. Its advantage
-   is that when the physical model reaches steady state, all states here should
-   be zero. This is advantageous for LQR design: the task can then be
-   formulated as a regulation task and not a tracking task.
+
+The "Quanser" state space might be more useful for controller design. Its advantage
+is that when the physical model reaches steady state, all states here should
+be zero. This is advantageous for LQR design: the task can then be
+formulated as a regulation task and not a tracking task.
 
 These state spaces *cannot* be converted one to another using a state-space
 similarity transformation. The issue is that the model with "observed" states
@@ -87,14 +88,14 @@ a spring factor).
 
 ## Generic notes
 
-- The model constants were determined using scripts in the `/data/jv` directory.
+- The model constants were determined using scripts in the `/data/students` directory.
 - The H-infinity controller could be improved by using frequency-dependent weights.
   Currently the weights are just static gains.
 - There are various places where friction can be modelled:
   - Viscous friction parallel to springs (equivalent to a shock absorber in cars).
   - Viscous friction in the bearings between masses and the base.
   - Static friction in the bearings between the masses and the base.
-  The Quanser lab model only assumes the first type of friction.
+- The Quanser lab model only assumes the first type of friction.
   This seemed unrealistic to me -- there is no shock absorber mounted on the
   physical model in the lab. The Simulink model here uses only the last two
   types of friction - I assume the bearings are where most of the losses are happening.