Delete few tikz figures, rename folders

matlab/figs-inkscape

@@ -1 +0,0 @@
-../inkscape

matlab/figs-paper

@@ -0,0 +1 @@
+../paper/figs

matlab/figs-tikz

@@ -1 +0,0 @@
-../tikz/figs

matlab/index.org

@@ -58,7 +58,7 @@ The system consists of one 2 degree of freedom translation stage on top of a spi
 
 #+name: fig:system
 #+caption: Schematic of the studied system
-[[file:figs-tikz/system.png]]
+[[file:figs-paper/system.png]]
 
 The control inputs are the forces applied by the actuators of the translation stage ($F_u$ and $F_v$).
 As the translation stage is rotating around the Z axis due to the spindle, the forces are applied along $\vec{i}_u$ and $\vec{i}_v$.
@@ -203,7 +203,7 @@ It is shown in Figure [[fig:campbell_diagram]], and one can see that the system
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/campbell_diagram.pdf', 'width', 'full', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/campbell_diagram.pdf', 'width', 'full', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** Simscape Model
@@ -394,7 +394,7 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]].
 [[file:figs/plant_compare_rotating_speed.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/plant_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/plant_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 * Problem with pure Integral Force Feedback
@@ -425,7 +425,7 @@ They are compared in Figure [[fig:plant_compare_rotating_speed]].
 
 #+name: fig:system_iff
 #+caption: Figure caption
-[[file:figs-tikz/system_iff.pdf]]
+[[file:figs-paper/system_iff.pdf]]
 
 ** Plant Parameters
 Let's define initial values for the model.
@@ -642,7 +642,7 @@ The obtained transfer functions are shown in Figure [[fig:plant_iff_compare_rota
 [[file:figs/plant_iff_compare_rotating_speed.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/plant_iff_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/plant_iff_compare_rotating_speed.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** Decentralized Integral Force Feedback
@@ -723,7 +723,7 @@ It is shown that for non-null rotating speed, one pole is bound to the right-hal
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_pure_iff.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_pure_iff.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 * Integral Force Feedback with an High Pass Filter
@@ -839,7 +839,7 @@ The obtained Loop Gain is shown in Figure [[fig:loop_gain_modified_iff]].
 [[file:figs/loop_gain_modified_iff.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/loop_gain_modified_iff.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/loop_gain_modified_iff.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** Root Locus
@@ -980,7 +980,7 @@ As shown in the Root Locus plot (Figure [[fig:root_locus_modified_iff]]), for so
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** What is the optimal $\omega_i$ and $g$?
@@ -1101,7 +1101,7 @@ In order to visualize the effect of $\omega_i$ on the attainable damping, the Ro
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_wi_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_wi_modified_iff.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 For the controller
@@ -1171,7 +1171,7 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
 [[file:figs/mod_iff_damping_wi.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/mod_iff_damping_wi.pdf', 'width', 'wide', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/mod_iff_damping_wi.pdf', 'width', 'wide', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 * IFF with a stiffness in parallel with the force sensor
@@ -1199,7 +1199,7 @@ To find the optimum, the gain that maximize the simultaneous damping of the mode
 
 #+name: fig:system_parallel_springs
 #+caption: Figure caption
-[[file:figs-tikz/system_parallel_springs.png]]
+[[file:figs-paper/system_parallel_springs.png]]
 
 ** Equations
 #+begin_important
@@ -1471,7 +1471,7 @@ One can see that for $k_p > m \Omega^2$, the systems shows alternating complex c
 [[file:figs/plant_iff_kp.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/plant_iff_kp.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/plant_iff_kp.pdf', 'width', 'full', 'height', 'full', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** IFF when adding a spring in parallel
@@ -1680,7 +1680,7 @@ Thus, decentralized IFF controller with pure integrators can be used if:
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** Effect of $k_p$ on the attainable damping
@@ -1783,7 +1783,7 @@ It is shown that large values of $k_p$ decreases the attainable damping.
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 #+begin_src matlab
@@ -1940,7 +1940,7 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 * Comparison
@@ -2104,7 +2104,7 @@ IFF With parallel Stiffness
 #+end_src
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** Controllers - Optimal Gains
@@ -2278,7 +2278,7 @@ Critical Damping corresponds to to $\xi = 1$, and thus:
 [[file:figs/comp_transmissibility.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/comp_transmissibility.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/comp_transmissibility.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 *** Compliance                                                      :ignore:
@@ -2312,7 +2312,7 @@ Critical Damping corresponds to to $\xi = 1$, and thus:
 [[file:figs/comp_compliance.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/comp_compliance.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/comp_compliance.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 ** DC Compliance
@@ -2568,7 +2568,7 @@ exportFig('figs/opt_damp_vs_dc_comp.pdf', 'width', 'wide', 'height', 'normal');
 [[file:figs/mod_iff_damping_kp.png]]
 
 #+begin_src matlab :tangle no :exports none :results none
-  exportFig('figs-inkscape/mod_iff_damping_kp.pdf', 'width', 'half', 'height', '650', 'png', false, 'pdf', false, 'svg', true);
+  exportFig('figs-paper/mod_iff_damping_kp.pdf', 'width', 'half', 'height', '650', 'png', false, 'pdf', false, 'svg', true);
 #+end_src
 
 * Notations

paper/figs

@@ -1 +0,0 @@
-../inkscape

tikz/figs

@@ -0,0 +1 @@
+../paper/figs

tikz/index.org

@@ -89,20 +89,6 @@ Configuration file is accessible [[file:config.org][here]].
 [[file:figs/system.png]]
 
 * X-Y Rotating Positioning Platform
-#+begin_src latex :file control_diagram_iff.pdf
-  \begin{tikzpicture}
-    % Blocs
-    \node[block={2.0cm}{2.0cm}] (P) {$\bm{G}_{f}$};
-    \node[above] at (P.north) {Plant};
-    \node[block={1.5cm}{1.5cm}, below=1.2 of P] (K) {$\begin{bmatrix}K_F & 0 \\ 0 & K_F\end{bmatrix}$};
-    \node[above, align=center] at (K.north) {Decentralized\\Controller};
-
-    % Connections and labels
-    \draw[<-] (P.west) node[above left]{ $\begin{bmatrix}F_u \\ F_v\end{bmatrix}$} node[below left]{$-$} -- ++(-1.2, 0) |- (K.west);
-    \draw[->] (P.east) node[above right]{$\begin{bmatrix}f_u \\ f_v\end{bmatrix}$} -- ++(1.2, 0) |- (K.east);
-  \end{tikzpicture}
-#+end_src
-
 #+begin_src latex :file control_diagram_iff.pdf
   \tikzset{block/.default={0.8cm}{0.8cm}}
   \tikzset{addb/.append style={scale=0.7}}
@@ -140,73 +126,6 @@ Configuration file is accessible [[file:config.org][here]].
 #+RESULTS:
 [[file:figs/control_diagram_iff.png]]
 
-* X-Y Rotating Positioning Platform with Force Sensors
-#+begin_src latex :file system_force_sensors.pdf
-  \begin{tikzpicture}
-    % Angle
-    \def\thetau{25}
-
-    % Rotational Stage
-    \draw[fill=black!60!white] (0, 0) circle (4.3);
-    \draw[fill=black!40!white] (0, 0) circle (3.8);
-
-    % Label
-    \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
-
-    % Rotating Scope
-    \begin{scope}[rotate=\thetau]
-      % Rotating Frame
-      \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
-      % Label
-      \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
-
-      % Mass
-      \draw[fill=white] (-1, -1) rectangle (1, 1);
-      % Label
-      \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
-
-      % Attached Points
-      \node[] at (-1, 0){$\bullet$};
-      \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
-      \node[] at (0, -1){$\bullet$};
-      \draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
-
-      % Force Sensors
-      \draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
-      \draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0,  0.5)$);
-      \draw[] ($(au) + (-0.2,  0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$}   -- ($(au) + (0, -0.5)$);
-
-      \draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
-      \draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv)   -- ($(av) + (-0.5,  0)$);
-      \draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) node[left=0.1, rotate=\thetau]{$f_{v}$} -- ($(av) + ( 0.5,  0)$);
-
-      % Spring and Actuator for U
-      \draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
-      \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
-
-      \draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
-      \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
-    \end{scope}
-
-    % Inertial Frame
-    \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
-    \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
-    \draw[fill, color=black] (-4, -4) circle (0.06);
-    \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
-
-    \draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
-    \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
-    \draw[dashed] (0, 0) -- ++(2, 0);
-    \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
-    \node[] at (0,0) {$\bullet$};
-
-    \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
-  \end{tikzpicture}
-#+end_src
-
-#+RESULTS:
-[[file:figs/system_force_sensors.png]]
-
 * Decentralized Integral Force Feedback
 #+begin_src latex :file system_iff.pdf
   \begin{tikzpicture}
@@ -284,88 +203,6 @@ Configuration file is accessible [[file:config.org][here]].
 #+RESULTS:
 [[file:figs/system_iff.png]]
 
-* Decentralized Direct Velocity Feedback
-#+begin_src latex :file system_dvf.pdf
-  \begin{tikzpicture}
-    % Angle
-    \def\thetau{25}
-
-    % Rotational Stage
-    \draw[fill=black!60!white] (0, 0) circle (4.3);
-    \draw[fill=black!40!white] (0, 0) circle (3.8);
-
-    % Label
-    \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
-
-    % Rotating Scope
-    \begin{scope}[rotate=\thetau]
-      % Rotating Frame
-      \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
-      % Label
-      \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
-
-      % Mass
-      \draw[fill=white] (-1, -1) rectangle (1, 1);
-      % Label
-      \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
-
-      % Attached Points
-      \node[] at (-1, 0){$\bullet$};
-      \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
-      \node[] at (0, -1){$\bullet$};
-      \draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
-
-      % Attached Points
-      \node[] at (-1, 0){$\bullet$};
-      \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu);
-      \draw[] ($(cu) + (0, -0.5)$) coordinate(actu) -- ($(cu) + (0, 0.5)$) coordinate(ku);
-      \node[] at (0, -1){$\bullet$};
-      \draw[] (0, -1) -- ++(0, -0.2) coordinate(cv);
-      \draw[] ($(cv) + (-0.5, 0)$)coordinate(kv) -- ($(cv) + (0.5, 0)$) coordinate(actv);
-
-      % Spring and Actuator for U
-      \draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0);
-      \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
-
-      \draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6);
-      \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
-
-      % Displacement measurement
-      \draw[<->, dashed] (-2.6, -0.8) -- (-1  , -0.8) coordinate(dutop);
-      \draw[<->, dashed] ( 0.8, -2.6) -- ( 0.8, -1) coordinate(dvtop);
-
-      % Controllers
-      \node[block={0.6cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{V}$};
-      \draw[->] ($(dutop) + (-0.1, 0)$) node[below left, rotate=\thetau]{$v_u$} |- (Ku.east);
-      \draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$);
-
-      \node[block={0.6cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{V}$};
-      \draw[->] ($(dvtop) + (0, -0.1)$) node[below right, rotate=\thetau]{$v_v$} -| (Kv.north);
-      \draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$);
-
-      \node[above=0.1, rotate=\thetau] at (actumid) {$F_u$};
-      \node[left=0.1, rotate=\thetau] at (actvmid) {$F_v$};
-    \end{scope}
-
-    % Inertial Frame
-    \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
-    \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
-    \draw[fill, color=black] (-4, -4) circle (0.06);
-    \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
-
-    \draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
-    \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
-    \draw[dashed] (0, 0) -- ++(2, 0);
-    \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
-    \node[] at (0,0) {$\bullet$};
-
-    \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
-  \end{tikzpicture}
-#+end_src
-
-#+RESULTS:
-[[file:figs/system_dvf.png]]
-
 * Springs in parallel
 #+begin_src latex :file system_parallel_springs.pdf
   \begin{tikzpicture}