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@@ -1,7 +1,8 @@
 # HeatFlow
-118x118 grid, reference image
+118x118 grid, set point given by a binary image
 The state dimension rises rapidly with the size of the image. All matrices had to be defined as sparse matrices for both time and memory purposes.
-![cvut](https://user-images.githubusercontent.com/55796835/119216411-d804ef80-bad3-11eb-9bf6-6fb0c1256f7a.png)
+
+Animated simulations are below. Each simulation step, a random spot on the plate gets cooled down to demonstrate the controller's ability to deal with disturbances.
 
 LQ-MPC, ref tracking, delta U input, unbounded
 https://user-images.githubusercontent.com/55796835/119216472-2dd99780-bad4-11eb-88a6-29e25a76a7b4.mp4