Put two figures in minipage

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Thomas Dehaeze 2020-07-02 11:11:08 +02:00
parent 91bfc1c00d
commit cd62640fcf
5 changed files with 14 additions and 5 deletions

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@ -494,19 +494,28 @@ Thus, if the added parallel stiffness $k_p$ is higher than the negative stiffnes
This is confirmed by the Bode plot in Figure ref:fig:plant_iff_kp.
# while recovering the alternating poles and zeros near the imaginary axis.
#+name: fig:plant_iff_kp
#+caption: Bode Plot of $f_u/F_u$ without parallel spring, with parallel springs with stiffness $k_p < m \Omega^2$ and $k_p > m \Omega^2$, $\Omega = 0.1 \omega_0$
#+attr_latex: :scale 1
[[file:figs/plant_iff_kp.pdf]]
# Root Locus plot
Figure ref:fig:root_locus_iff_kp shows Root Loci plots for $k_p = 0$, $k_p < m \Omega^2$ and $k_p > m \Omega^2$ when $K_F$ is a pure integrator eqref:eq:Kf_pure_int.
It is shown that if the added stiffness is higher than the maximum negative stiffness, the poles of the closed-loop system stay in the (stable) right half-plane, and hence the unconditional stability of IFF is recovered.
#+attr_latex: :options [b]{0.42\linewidth}
#+begin_minipage
#+name: fig:plant_iff_kp
#+caption: Bode Plot of $f_u/F_u$ without parallel spring, with parallel springs with stiffness $k_p < m \Omega^2$ and $k_p > m \Omega^2$, $\Omega = 0.1 \omega_0$
#+attr_latex: :scale 1 :float nil
[[file:figs/plant_iff_kp.pdf]]
#+end_minipage
\hfill
#+attr_latex: :options [b]{0.52\linewidth}
#+begin_minipage
#+name: fig:root_locus_iff_kp
#+caption: Root Locus for IFF without parallel spring, with parallel springs with stiffness $k_p < m \Omega^2$ and $k_p > m \Omega^2$, $\Omega = 0.1 \omega_0$
#+attr_latex: :scale 1
#+attr_latex: :scale 1 :float nil
[[file:figs/root_locus_iff_kp.pdf]]
#+end_minipage
** Optimal Parallel Stiffness
# The zero is the poles of the system without the force sensors => w0 = sqrt(kp/m) +/- Omega ?? => seems not true