Organization of Document

The organization of this document follows the template for an SRS for scientific computing software proposed by koothoor2013, smithLai2005, smithEtAl2007, and smithKoothoor2016. The presentation follows the standard pattern of presenting goals, theories, definitions, and assumptions. For readers that would like a more bottom up approach, they can start reading the data definitions and trace back to find any additional information they require.

The goal statements are refined to the theoretical models and the theoretical models to the instance models. The instance model referred as IM:pdEquationIM provides an Ordinary Differential Equation (ODE) that models the PD Controller.