diff --git a/controls/README.md b/controls/README.md
index 3dc51e0812f5cf04783e8e0fcd4e0f49bc5c72c1..5961337e8210a4425fc9ca216c7618e6e2154025 100644
--- a/controls/README.md
+++ b/controls/README.md
@@ -26,8 +26,12 @@ This folder contains the files used in developing the model of the quadcopter.
 1. To select which controller is used to simulate quad flight, navigate to the top level of the Simulink model and toggle the controller switch to either LQR or PID
 
 
+**Comparing Simulated and Real Motor PWM Signals**
+With the addtion of the Zybo PCB shield, MicroCART users can now compare motor PWM signals measured from test points on the PCB shield with simulated motor PWM signals created by the Simulink simulator. This is useful for verifying that a controller is behaving as expected without needing to risk damaging the quad during test flights. 
+
 
 
 ## Additional Documents
 [Measuring Motor Resistance](documentation/MeasuringMotorResistance.pdf)  
-[Simulink Model](documentation/SimulinkModel.md)  
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+[Simulink Model](documentation/SimulinkModel.md)  
+[Matt Rich's Thesis](documentation/Matt_Rich_s_Thesis.pdf) 
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