Thermodynamics with continuous information flow

We provide a unified thermodynamic formalism describing information transfers in autonomous as well as nonautonomous systems described by stochastic thermodynamics. We demonstrate how information is continuously generated in an auxiliary system and then transferred to a relevant system that can utilize it to fuel otherwise impossible processes. Indeed, while the joint system satisfies the second law, the entropy balance for the relevant system is modified by an information term related to the mutual information rate between the two systems. We show that many important results previously derived for nonautonomous Maxwell demons can be recovered from our formalism and use a cycle decomposition to analyze the continuous information flow in autonomous systems operating at steady-state. A model system is used to illustrate our findings.