<spanclass="org-font-latex-sedate">\node</span>[above] at (P.north) {<spanclass="org-font-latex-math">$P$</span>};
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<spanclass="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<spanclass="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<spanclass="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<spanclass="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<spanclass="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\node</span>[block, left=2*<spanclass="org-font-latex-sedate">\cdist</span> of outputl] (WL){<spanclass="org-font-latex-math">$w</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_L</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, left=2*<spanclass="org-font-latex-sedate">\cdist</span> of outputh] (WH){<spanclass="org-font-latex-math">$w</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_H</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[above] at (P.north) {<spanclass="org-font-latex-math">$P$</span>};
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<spanclass="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<spanclass="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<spanclass="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<spanclass="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<spanclass="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\node</span>[block, left=2*<spanclass="org-font-latex-sedate">\cdist</span> of outputl] (WL){<spanclass="org-font-latex-math">$w</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_L</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, left=2*<spanclass="org-font-latex-sedate">\cdist</span> of outputh] (WH){<spanclass="org-font-latex-math">$w</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_H</span></span><spanclass="org-font-latex-math">$</span>};
The Tikz figure can be downloaded in the following formats: <ahref="./figs/h_infinity_optimal_comp_filters.png">png</a>, <ahref="./figs/h_infinity_optimal_comp_filters.pdf">pdf</a> and <ahref="./figs/h_infinity_optimal_comp_filters.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[above] at (P.north) {<spanclass="org-font-latex-math">$P$</span>};
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputn1) at (<spanclass="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputn2) at (<spanclass="org-font-latex-math">$(P.south west)!0.5!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<spanclass="org-font-latex-math">$(P.south west)!0.2!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputx) at (<spanclass="org-font-latex-math">$(P.south east)!0.5!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<spanclass="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\node</span>[block, right=1.5 of inputn1] (W1){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1.5 of inputn2] (W2){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
The Tikz figure can be downloaded in the following formats: <ahref="./figs/fusion_two_noisy_sensors.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors.pdf">pdf</a> and <ahref="./figs/fusion_two_noisy_sensors.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
<spanclass="org-font-latex-sedate">\node</span>[addb, above right=1.5 and 1 of x](add1){};
<spanclass="org-font-latex-sedate">\node</span>[addb, below right=1.5 and 1 of x](add2){};
<spanclass="org-font-latex-sedate">\node</span>[block, above=0.5 of add1](W1){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, above=0.5 of add2](W2){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=4 of x](add){};
<p><spanclass="figure-number">Figure 4: </span>Fusion of two noisy sensors (<ahref="./figs/fusion_two_noisy_sensors.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors.pdf">pdf</a>, <ahref="./figs/fusion_two_noisy_sensors.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/fusion_two_signals.png">png</a>, <ahref="./figs/fusion_two_signals.pdf">pdf</a> and <ahref="./figs/fusion_two_signals.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[addb] (add) at (0, 0){};
<spanclass="org-font-latex-sedate">\node</span>[block, above left=0.5 and 0.8 of add] (H1) {<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, below left=0.5 and 0.8 of add] (H2) {<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<p><spanclass="figure-number">Figure 5: </span>Fusion of two noisy sensors (<ahref="./figs/fusion_two_signals.png">png</a>, <ahref="./figs/fusion_two_signals.pdf">pdf</a>, <ahref="./figs/fusion_two_signals.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/fusion_two_noisy_sensors_with_dyn.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn.pdf">pdf</a> and <ahref="./figs/fusion_two_noisy_sensors_with_dyn.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
<spanclass="org-font-latex-sedate">\node</span>[block, above right=1.5 and 0.5 of x](G1){<spanclass="org-font-latex-math">$G</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, below right=1.5 and 0.5 of x](G2){<spanclass="org-font-latex-math">$G</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
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<spanclass="org-font-latex-sedate">\node</span>[addb, right=1 of G2](add2){};
<spanclass="org-font-latex-sedate">\node</span>[block, above=0.5 of add1](W1){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, above=0.5 of add2](W2){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=6 of x](add){};
<p><spanclass="figure-number">Figure 6: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub> (<ahref="./figs/fusion_two_noisy_sensors_with_dyn.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn.pdf">pdf</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf">pdf</a> and <ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
<spanclass="org-font-latex-sedate">\node</span>[block, above right=0.5 and 0.5 of x](G1){<spanclass="org-font-latex-math">$G</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, below right=0.5 and 0.5 of x](G2){<spanclass="org-font-latex-math">$G</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=1 of G1](add1){};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=1 of G2](add2){};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=6 of x](add){};
<p><spanclass="figure-number">Figure 7: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub><sub>bis</sub> (<ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.png">png</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf">pdf</a>, <ahref="./figs/fusion_two_noisy_sensors_with_dyn_bis.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/fusion_two_signals_with_dyn.png">png</a>, <ahref="./figs/fusion_two_signals_with_dyn.pdf">pdf</a> and <ahref="./figs/fusion_two_signals_with_dyn.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
<spanclass="org-font-latex-sedate">\node</span>[addb, above right=1 and 3.5 of x](add1){};
<spanclass="org-font-latex-sedate">\node</span>[addb, below right=1 and 3.5 of x](add2){};
<spanclass="org-font-latex-sedate">\node</span>[block, above left= of add1](delta1){<spanclass="org-font-latex-math">$</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\Delta</span></span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, above left= of add2](delta2){<spanclass="org-font-latex-math">$</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\Delta</span></span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, left= of delta1](W1){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, left= of delta2](W2){<spanclass="org-font-latex-math">$W</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right= of add1](H1){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[block, right= of add2](H2){<spanclass="org-font-latex-math">$H</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_2</span></span><spanclass="org-font-latex-math">$</span>};
<spanclass="org-font-latex-sedate">\node</span>[addb, right=5.5 of x](add){};
<p><spanclass="figure-number">Figure 8: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub> (<ahref="./figs/fusion_gain_mismatch.png">png</a>, <ahref="./figs/fusion_gain_mismatch.pdf">pdf</a>, <ahref="./figs/fusion_gain_mismatch.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/uncertainty_gain_phase_variation.png">png</a>, <ahref="./figs/uncertainty_gain_phase_variation.pdf">pdf</a> and <ahref="./figs/uncertainty_gain_phase_variation.tex">tex</a>.
<p><spanclass="figure-number">Figure 9: </span>Uncertainty to Phase and Gain variation (<ahref="./figs/uncertainty_gain_phase_variation.png">png</a>, <ahref="./figs/uncertainty_gain_phase_variation.pdf">pdf</a>, <ahref="./figs/uncertainty_gain_phase_variation.tex">tex</a>).</p>
<p><spanclass="figure-number">Figure 10: </span>Generation of Complementary Filters using the feedback architecture (<ahref="./figs/complementary_filters_feedback_architecture.png">png</a>, <ahref="./figs/complementary_filters_feedback_architecture.pdf">pdf</a>, <ahref="./figs/complementary_filters_feedback_architecture.tex">tex</a>).</p>
The Tikz figure can be downloaded in the following formats: <ahref="./figs/h_infinity_robust_fusion.png">png</a>, <ahref="./figs/h_infinity_robust_fusion.pdf">pdf</a> and <ahref="./figs/h_infinity_robust_fusion.tex">tex</a>.
<spanclass="org-font-latex-sedate">\node</span>[above] at (P.north) {<spanclass="org-font-latex-math">$P$</span>};
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<spanclass="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<spanclass="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<spanclass="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<spanclass="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<spanclass="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><spanclass="org-font-latex-sedate"><spanclass="org-font-latex-math">\cdist</span></span><spanclass="org-font-latex-math">, 0)$</span>);
<spanclass="org-font-latex-sedate">\node</span>[block, left=2*<spanclass="org-font-latex-sedate">\cdist</span> of outputl] (W1){<spanclass="org-font-latex-math">$w</span><spanclass="org-font-latex-math"><spanclass="org-font-latex-script-char">_1</span></span><spanclass="org-font-latex-math">$</span>};
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