diff --git a/tikz/figs/h_infinity_robust_fusion.pdf b/tikz/figs/h_infinity_robust_fusion.pdf index 5cc85f8..a5f6988 100644 Binary files a/tikz/figs/h_infinity_robust_fusion.pdf and b/tikz/figs/h_infinity_robust_fusion.pdf differ diff --git a/tikz/figs/h_infinity_robust_fusion.png b/tikz/figs/h_infinity_robust_fusion.png index c020000..da51b20 100644 Binary files a/tikz/figs/h_infinity_robust_fusion.png and b/tikz/figs/h_infinity_robust_fusion.png differ diff --git a/tikz/figs/h_infinity_robust_fusion.svg b/tikz/figs/h_infinity_robust_fusion.svg index b72aa3a..5ab1250 100644 --- a/tikz/figs/h_infinity_robust_fusion.svg +++ b/tikz/figs/h_infinity_robust_fusion.svg @@ -1,5 +1,5 @@ - + @@ -51,120 +51,139 @@ - + + + + + + + - + - + - + - - - - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + + + + + + + + + + + + + + + - + - + - + + + + + + + + + + + + + + + + + + - + - + - + - - - - - - - - - - - - + + + + + + - + - - + - - + + + + + - + - + - - - - - - - - - - - - + diff --git a/tikz/figs/mixed_h2_hinf_synthesis.pdf b/tikz/figs/mixed_h2_hinf_synthesis.pdf index 74d0fa5..18fad48 100644 Binary files a/tikz/figs/mixed_h2_hinf_synthesis.pdf and b/tikz/figs/mixed_h2_hinf_synthesis.pdf differ diff --git a/tikz/figs/mixed_h2_hinf_synthesis.png b/tikz/figs/mixed_h2_hinf_synthesis.png index 150a136..281a6ee 100644 Binary files a/tikz/figs/mixed_h2_hinf_synthesis.png and b/tikz/figs/mixed_h2_hinf_synthesis.png differ diff --git a/tikz/figs/mixed_h2_hinf_synthesis.svg b/tikz/figs/mixed_h2_hinf_synthesis.svg index 6016051..1ac03f8 100644 --- a/tikz/figs/mixed_h2_hinf_synthesis.svg +++ b/tikz/figs/mixed_h2_hinf_synthesis.svg @@ -1,5 +1,5 @@ - + @@ -47,6 +47,9 @@ + + + @@ -82,175 +85,193 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + + + + + + + + + + + + + + + - + - + - + - + - + - + - - + + - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + - + - + - + - - - - - + + + + + + + + + - + - + - - + + - + - + - - + + - + - + - - + + - + - + - + - + - + - + - + - + - + - + diff --git a/tikz/index.org b/tikz/index.org index f03b6cb..9c06625 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -268,7 +268,7 @@ Configuration file is accessible [[file:config.org][here]]. * Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters #+begin_src latex :file h_infinity_robust_fusion.pdf \begin{tikzpicture} - \node[block={3.5cm}{2.5cm}, fill=black!20!white, dashed] (P) {}; + \node[block={4.2cm}{2.5cm}, fill=black!20!white, dashed] (P) {}; \node[above] at (P.north) {$P_{\mathcal{H}_\infty}$}; \coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$); @@ -280,15 +280,19 @@ Configuration file is accessible [[file:config.org][here]]. \node[block, left=0.9 of output1] (W1){$W_1$}; \node[block, left=0.9 of output2] (W2){$W_2$}; - \node[addb={+}{}{}{}{-}, left=of W1] (sub) {}; + \node[block, left=0.4 of W1] (Wu1){$W_u$}; + \node[block, left=0.4 of W2] (Wu2){$W_u$}; + \node[addb={+}{}{}{}{-}, left=of Wu1] (sub) {}; \node[block, below=0.3 of P] (H2) {$H_2$}; \draw[->] (inputw) node[above right]{$w$} -- (sub.west); - \draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (W2.west); + \draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (Wu2.west); \draw[->] (inputu-|sub) node[branch]{} -- (sub.south); - \draw[->] (sub.east) -- (W1.west); + \draw[->] (sub.east) -- (Wu1.west); \draw[->] ($(sub.west)+(-0.6, 0)$) node[branch]{} |- ($(outputv)+(-0.35, 0)$) node[above]{$v$} |- (H2.east); + \draw[->] (Wu1.east) -- (W1.west); + \draw[->] (Wu2.east) -- (W2.west); \draw[->] (W1.east) -- (output1)node[above left]{$z_1$}; \draw[->] (W2.east) -- (output2)node[above left]{$z_2$}; \end{tikzpicture} @@ -396,7 +400,7 @@ Configuration file is accessible [[file:config.org][here]]. * Mixed H2/H-Infinity Synthesis #+begin_src latex :file mixed_h2_hinf_synthesis.pdf \begin{tikzpicture} - \node[block={4.0cm}{4.0cm}, fill=black!20!white, dashed] (P) {}; + \node[block={4.2cm}{4.0cm}, fill=black!20!white, dashed] (P) {}; \node[above] at (P.north) {$P_{\mathcal{H}_2/\mathcal{H}_\infty}$}; \coordinate[] (inputw) at ($(P.south west)!0.85!(P.north west) + (-0.7, 0)$); @@ -410,7 +414,9 @@ Configuration file is accessible [[file:config.org][here]]. \node[block, left=1.0 of output1] (W1){$W_1$}; \node[block, left=1.0 of output2] (W2){$W_2$}; - \node[addb={+}{}{}{}{-}, left=1.2 of W1] (sub1) {}; + \node[block, left=0.4 of W1] (Wu1){$W_u$}; + \node[block, left=0.4 of W2] (Wu2){$W_u$}; + \node[addb={+}{}{}{}{-}, left=0.4 of Wu1] (sub1) {}; \node[block, left=1.0 of output3] (N1){$N_1$}; \node[block, left=1.0 of output4] (N2){$N_2$}; @@ -422,11 +428,13 @@ Configuration file is accessible [[file:config.org][here]]. \draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (N2.west); \draw[->] (inputu-|sub1) node[branch]{} -- (sub1.south); \draw[->] (inputu-|sub2) node[branch]{} -- (sub2.south); - \draw[->] (sub1|-W2) node[branch]{} -- (W2.west); - \draw[->] (sub1.east) -- (W1.west); + \draw[->] (sub1|-W2) node[branch]{} -- (Wu2.west); + \draw[->] (sub1.east) -- (Wu1.west); \draw[->] (sub2.east) -- (N1.west); \draw[->] ($(sub1.west)+(-0.6, 0)$) node[branch](w_branch){} |- ($(outputv)+(-0.35, 0)$) node[above]{$v$} |- (H2.east); \draw[->] (w_branch|-sub2) node[branch]{} -- (sub2.west); + \draw[->] (Wu1.east) -- (W1.west); + \draw[->] (Wu2.east) -- (W2.west); \draw[->] (W1.east) -- (output1)node[above left](z1){$z_1$}; \draw[->] (W2.east) -- (output2)node[above left](z2){$z_2$}; \draw[->] (N1.east) -- (output3)node[above left](z3){$z_3$};