//@pausable
do {
	//@previous initValue=new ControlSignal( force => 0 )
	accept(ctl:ControlSignal);
	this.force = ctl.force;
		
	//@edge
	p = this.position;
	//@edge
	v = this.velocity;
	//@edge
	a = this.angle;
	//@edge
	av = this.angularVelocity;
	
	this.controller.ReceptionPlantState( new PlantStateSignal(
			position        => p,
			velocity        => v,
			angle 		    => a,
			angularVelocity => av
			) 
		);
	} while(true);