Update report about HAC-IFF
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@ -1310,22 +1310,19 @@ The HAC-LAC architecture is shown in Figure [[fig:schematic_jacobian_frame_fastj
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#+begin_src latex :file schematic_jacobian_frame_fastjack_hac_iff.pdf
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\begin{tikzpicture}
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% Blocs
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\node[block={4.0cm}{3.0cm}] (G) {$\bm{G}(s)$};
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\node[block={3.0cm}{3.0cm}] (G) {$\bm{G}(s)$};
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\coordinate[] (inputF) at ($(G.south west)!0.5!(G.north west)$);
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\coordinate[] (outputF) at ($(G.south east)!0.8!(G.north east)$);
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\coordinate[] (outputL) at ($(G.south east)!0.2!(G.north east)$);
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\node[block, right=1.3 of outputL] (Js) {$\bm{J}_{s}^{-1}$};
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\node[block, right=1.2 of outputL] (Js) {$\bm{J}_{s}^{-1}$};
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\node[addb, left= of G] (addF) {};
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\node[block, above=0.5 of G] (Kiff) {$\bm{K}_{\text{IFF}}(s)$};
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\node[block, left=1.3 of addF] (Khac) {$\bm{K}_{\text{HAC}}(s)$};
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\node[block, left=1.3 of Khac] (Ja) {$\bm{J}_{a}$};
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\node[addb={+}{}{}{}{-}, left=1.3 of Ja] (subL) {};
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\coordinate[left=1.3 of subL] (mux);
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\node[block] (bragg2d) at ($(mux) + (-1.2, 0.8)$) {$\frac{d_{\text{off}}}{2 \cos \theta_b}$};
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\coordinate (rx) at ($(mux) + (0, -0.8)$);
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\node[block, left=1.2 of addF] (Khac) {$\bm{K}_{\text{HAC}}(s)$};
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\node[block, left=1.2 of Khac] (Ja) {$\bm{J}_{a}$};
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\node[addb={+}{}{}{}{-}, left=1.0 of Ja] (subL) {};
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% Connections and labels
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@ -1338,21 +1335,17 @@ The HAC-LAC architecture is shown in Figure [[fig:schematic_jacobian_frame_fastj
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\draw[->] (Js.east) -- ++(1.0, 0);
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\draw[line width=4pt] ($(mux) + (0, -1.0)$) -- ($(mux) + (0, 1.0)$);
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\draw[->] (mux) -- node[midway, above]{$\begin{bmatrix} r_{d_z} \\ r_{r_y} \\ r_{r_x} \end{bmatrix}$} (subL.west);
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\draw[->] ($(subL.west) + (-0.8, 0)$) -- node[midway, above]{$\begin{bmatrix} r_{d_z} \\ r_{r_y} \\ r_{r_x} \end{bmatrix}$} (subL.west);
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\draw[->] (subL.east) -- node[midway, above]{$\begin{bmatrix} \epsilon_{d_z} \\ \epsilon_{r_y} \\ \epsilon_{r_x} \end{bmatrix}$} (Ja.west);
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\draw[->] (Ja.east) -- node[midway, above]{$\begin{bmatrix} \epsilon_{d_{u_r}} \\ \epsilon_{d_{u_h}} \\ \epsilon_{d_d} \end{bmatrix}$} (Khac.west);
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\draw[->] ($(Js.east) + (0.6, 0)$)node[branch]{}node[above]{$\begin{bmatrix} d_z \\ r_y \\ r_x \end{bmatrix}$} -- ++(0, -1.0) -| (subL.south);
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\draw[->] ($(bragg2d.west) + (-0.6, 0)$)coordinate(ref_input)node[above right]{$\theta_b$} -- (bragg2d.west);
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\draw[->] (bragg2d.east) --node[midway, above]{$r_{d_z}$} (bragg2d-|mux);
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\draw[->] (ref_input|-mux)node[above right]{$r_{r_y}$} -- (mux);
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\draw[->] (ref_input|-rx) node[above right]{$r_{r_x}$} -- (rx-|mux);
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\end{tikzpicture}
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#+end_src
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#+name: fig:schematic_jacobian_frame_fastjack_hac_iff
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#+caption: HAC-LAC architecture
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#+attr_latex: :width \linewidth
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#+RESULTS:
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[[file:figs/schematic_jacobian_frame_fastjack_hac_iff.png]]
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@ -1561,19 +1554,28 @@ As shown in the Root Locus plot in Figure [[fig:loci_hac_iff_fast_jack]], the cl
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%% Plot of the eigenvalues of L in the complex plane
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figure;
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hold on;
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% Angle used to draw the circles
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theta = linspace(0, 2*pi, 100);
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% Unit circle
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plot(cos(theta), sin(theta), '--');
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% Circle for module margin
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plot(-1 + min(min(abs(Ldet + 1)))*cos(theta), min(min(abs(Ldet + 1)))*sin(theta), '--');
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for i = 1:3
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plot(real(squeeze(Ldet(i,:))), imag(squeeze(Ldet(i,:))), 'k.');
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plot(real(squeeze(Ldet(i,:))), -imag(squeeze(Ldet(i,:))), 'k.');
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end
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% Unstable Point
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plot(-1, 0, 'kx', 'HandleVisibility', 'off');
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hold off;
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set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
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xlabel('Real'); ylabel('Imag');
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axis square;
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xlim([-3, 1]); ylim([-2, 2]);
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/loci_hac_iff_fast_jack.pdf', 'width', 'wide', 'height', 'tall');
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exportFig('figs/loci_hac_iff_fast_jack.pdf', 'width', 'normal', 'height', 'normal');
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#+end_src
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#+name: fig:loci_hac_iff_fast_jack
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@ -1658,7 +1660,7 @@ xlim([f(1), f(end)]);
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/stepper_transmissibility_comp_ol_hac_iff.pdf', 'width', 'wide', 'height', 'tall');
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exportFig('figs/stepper_transmissibility_comp_ol_hac_iff.pdf', 'width', 'wide', 'height', 'normal');
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#+end_src
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#+name: fig:stepper_transmissibility_comp_ol_hac_iff
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@ -1,5 +1,5 @@
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Reference in New Issue
Block a user