Add new line after minipage for figures
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@ -72,8 +72,8 @@ Both proposed modifications are compared in terms of added damping, closed-loop
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# Such as the Nano-Active-Stabilization-System currently in development at the ESRF cite:dehaeze18_sampl_stabil_for_tomog_exper.
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** Current active damping techniques :ignore:
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# IFF, DVF
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** Description of IFF and associated properties
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# IFF => guaranteed stability
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** Describe a gap in the research :ignore:
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# No literature on rotating systems => gyroscopic effects
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@ -81,11 +81,11 @@ Both proposed modifications are compared in terms of added damping, closed-loop
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** Describe the paper itself / the problem which is addressed :ignore:
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Due to gyroscopic effects, the guaranteed robustness properties of Integral Force Feedback do not hold.
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Either the control architecture can be slightly modified or mechanical changes in the system can be performed.
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** Introduce Each part of the paper :ignore:
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This paper has been published
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The Matlab code that was use to obtain the results are available in cite:dehaeze20_activ_dampin_rotat_posit_platf.
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* Dynamics of Rotating Positioning Platforms
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@ -234,7 +234,7 @@ The control diagram is schematically shown in Figure ref:fig:control_diagram_iff
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#+attr_latex: :scale 1 :float nil
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[[file:figs/system_iff.pdf]]
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#+end_minipage
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\hfill
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#+latex: \hfill
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#+attr_latex: :options [t]{0.40\linewidth}
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#+begin_minipage
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#+name: fig:control_diagram_iff
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@ -242,6 +242,7 @@ The control diagram is schematically shown in Figure ref:fig:control_diagram_iff
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#+attr_latex: :scale 1 :float nil
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[[file:figs/control_diagram_iff.pdf]]
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#+end_minipage
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#+latex: \newline
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** Plant Dynamics :ignore:
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The forces measured by the two force sensors are equal to
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@ -274,6 +275,7 @@ The zeros of the diagonal terms of $\bm{G}_f$ are equal to (neglecting the dampi
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\end{align}
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\end{subequations}
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# TODO - Change that phrase: don't say it is easy
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It can be easily shown that the frequency of the two complex conjugate zeros $z_c$ eqref:eq:iff_zero_cc lies between the frequency of the two pairs of complex conjugate poles $p_{-}$ and $p_{+}$ eqref:eq:pole_values.
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For non-null rotational speeds, two real zeros $z_r$ eqref:eq:iff_zero_real appear in the diagonal terms inducing a non-minimum phase behavior.
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@ -365,6 +367,7 @@ It is interesting to note that this gain $g_{\text{max}}$ also corresponds as to
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#+attr_latex: :scale 1 :float nil
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[[file:figs/root_locus_modified_iff.pdf]]
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#+end_minipage
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#+latex: \newline
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** Optimal Control Parameters :ignore:
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Two parameters can be tuned for the controller eqref:eq:IFF_LHF: the gain $g$ and the pole's location $\omega_i$.
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@ -409,7 +412,7 @@ An example of such system is shown in Figure ref:fig:cedrat_xy25xs.
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#+attr_latex: :scale 1 :float nil
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[[file:figs/system_parallel_springs.pdf]]
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#+end_minipage
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\hfill
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#+latex: \hfill
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#+attr_latex: :options [t]{0.40\linewidth}
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#+begin_minipage
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#+name: fig:cedrat_xy25xs
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@ -417,6 +420,7 @@ An example of such system is shown in Figure ref:fig:cedrat_xy25xs.
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#+attr_latex: :width \linewidth :float nil
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[[file:figs/cedrat_xy25xs.png]]
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#+end_minipage
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#+latex: \newline
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** Effect of the Parallel Stiffness on the Plant Dynamics :ignore:
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The forces measured by the sensors are equal to
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@ -483,6 +487,7 @@ It is shown that if the added stiffness is higher than the maximum negative stif
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#+attr_latex: :scale 1 :float nil
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[[file:figs/root_locus_iff_kp.pdf]]
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#+end_minipage
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#+latex: \newline
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** Optimal Parallel Stiffness :ignore:
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Even though the parallel stiffness $k_p$ has no impact on the open-loop poles (as the overall stiffness $k$ stays constant), it has a large impact on the transmission zeros.
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@ -554,7 +559,9 @@ They however do not degrades the transmissibility as high frequency as its the c
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* Conclusion
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<<sec:conclusion>>
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# MIMO approach to study the coupling effects?
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# Shows the problem for IFF when rotating
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# Proposed two method
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* Acknowledgment
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:PROPERTIES:
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