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lf-lang · Jan 17, 2025 · 080de05 · 080de05
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diff --git a/examples/C/README.md b/examples/C/README.md
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 * [Train Door](src/train-door/README.md): Train door controller from a verification paper.
 * [Low Code](src/low-code/LowCode.lf): Using ChatGPT to generate reaction bodies.
 * [Watchdog](src/watchdog/README.md): Federated illustration of watchdogs.
+* [Zero-delay Cycles](src/zero-delay-cycles/README.md): Federated patterns with zero-delay cycles.
diff --git a/examples/C/src/zero-delay-cycles/README.md b/examples/C/src/zero-delay-cycles/README.md
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+# Zero-delay Cycles
+
+These examples show usage patterns for zero-delay cycles in Lingua Franca.
+
+<table>
+<tr>
+<td> <img src="img/Consistency.png" alt="Consistency" width="400">
+<td> <a href="Consistency.lf">Consistency.lf</a>: Symmetric control system with two controllers that need to take actions on a physical plant based on consistent information.</td>
+</tr>
+<tr>
+<td> <img src="img/Feedback.png" alt="Feedback" width="400">
+<td> <a href="Feedback.lf">Feedback.lf</a>: Feedback controller coupled with supervisory controller.</td>
+</tr>
+<tr>
+<td> <img src="img/ZeroDelayCycle.png" alt="ZeroDelayCycle" width="400">
+<td> <a href="ZeroDelayCycle.lf">ZeroDelayCycle.lf</a>: Trivial test case.</td>
+</tr>
+</table>
diff --git a/examples/C/src/zero-delay-cycles/img/Consistency.png b/examples/C/src/zero-delay-cycles/img/Consistency.png
diff --git a/examples/C/src/zero-delay-cycles/img/Feedback.png b/examples/C/src/zero-delay-cycles/img/Feedback.png
diff --git a/examples/C/src/zero-delay-cycles/img/ZeroDelayCycle.png b/examples/C/src/zero-delay-cycles/img/ZeroDelayCycle.png