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\author[1,3] {T. Dehaeze}
\author[1,2] {C. Collette}
\affil[1] {Precision Mechatronics Laboratory\NewLineAffil University of Liege, Belgium \NewAffil}
\affil[2] {BEAMS Department\NewLineAffil Free University of Brussels, Belgium \NewAffil}
\affil[3] {European Synchrotron Radiation Facility \NewLineAffil Grenoble, France e-mail: \textbf{thomas.dehaeze@esrf.fr}}
\date{}
\title{Vibration control of a rotating Stewart platform}
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\begin{document}

\maketitle

\abstract{
    Abstract text to be done
}

\section{Introduction}
\label{sec:org335669b}
\label{sec:introduction}


\section{Theory}
\label{sec:org8b756e7}
\label{sec:theory}

\subsection{Rotating Positioning Stage}
\label{sec:orgbf4a596}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/rotating_xy_platform.pdf}
\caption{\label{fig:rotating_xy_platform}Figure caption}
\end{figure}


\subsection{Equation of Motion}
\label{sec:orgaa8880a}

Let's express the kinetic energy \(T\) and the potential energy \(V\) of the mass \(m\):
\begin{align}
\label{eq:energy_inertial_frame}
T & = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) \\
V & = \frac{1}{2} k \left( x^2 + y^2 \right)
\end{align}

The Lagrangian is the kinetic energy minus the potential energy.
\begin{equation}
\label{eq:lagrangian_inertial_frame}
L = T-V = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) - \frac{1}{2} k \left( x^2 + y^2 \right)
\end{equation}


\subsection{Integral Force Feedback}
\label{sec:org754b644}


\subsection{Direct Velocity Feedback}
\label{sec:org9cbf82a}


\section{Conclusion}
\label{sec:org8d24de3}
\label{sec:conclusion}


\section{Acknowledgment}
\label{sec:orgb252937}


\bibliography{ref}
\end{document}
