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index 3bdd0391..ba4a49b6 100644
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@@ -1,13 +1,13 @@
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diff --git a/Writing/ERLM/main.log b/Writing/ERLM/main.log
index 36addc70..7b2041ef 100644
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@@ -1,4 +1,4 @@
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diff --git a/Writing/ERLM/main.pdf b/Writing/ERLM/main.pdf
index b7cfd75e..968ada58 100644
Binary files a/Writing/ERLM/main.pdf and b/Writing/ERLM/main.pdf differ
diff --git a/Writing/ERLM/main.synctex.gz b/Writing/ERLM/main.synctex.gz
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diff --git a/Writing/ERLM/research-approach/v1.tex b/Writing/ERLM/research-approach/v1.tex
index d306fc01..ccd69fe7 100644
--- a/Writing/ERLM/research-approach/v1.tex
+++ b/Writing/ERLM/research-approach/v1.tex
@@ -83,3 +83,21 @@ synthesis of discrete controllers created from temporal logic specifications.
 Reactive defines that the system responds to inputs to create outputs. These
 systems are finite in size, where each node represents a unique set of discrete
 states \(q\). 
+
+% what does it mean to be a single discrete state
+% what do the transitions mean
+% How're we going to use reactive synthesis to do this for us
+% what are some state of the art tools to use
+% What's the output
+% Explain how the transitions are the edges in the state space, and we're
+% basically creating hybrid automata without actually specifying the dynamics
+% underneath
+% we're going to figure out the continuous dynamics in the next section. Then,
+% for the continuous section, basically talk about how now that we have the
+% discrete modes, we just need to build controllers that satisfy all the
+% transitions and operational goals for each mode. We've broken up the control
+% system into several smaller pieces that are more manageable. Include how
+% reachability becomes a part of that. What does it mean to have input and
+% output guarantees based on the allowable transitions?
+
+%write tasks in here maybe. Or the main thrusts.