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tikz/config.html
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tikz/config.html
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tikz/config.org
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tikz/config.org
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#+TITLE: LaTeX Configuration for Tikz Figures
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:DRAWER:
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
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#+PROPERTY: header-args:latex+ :tangle config.tex
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#+PROPERTY: header-args:latex+ :exports code
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:END:
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* Packages
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#+begin_src latex
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\usepackage[utf8]{inputenc}
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\usepackage[T1]{fontenc}
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\usepackage[french, english]{babel} % Last language is main language
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\usepackage{lmodern} % Latin Modern Font
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\usepackage{gensymb} % Generic symbols for both text and math mode
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\usepackage{standalone} % Used to generate standalone Tikz
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\usepackage{amsmath} % Main math Package
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\usepackage{mathtools} % Extension package to amsmath
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\usepackage{amsthm} % Typesetting theorems (AMS style)
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\usepackage{amsfonts} % More fonts from the AMS
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\usepackage{textcomp} % provide many text symbols
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\usepackage{steinmetz} % For phase symbol
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\usepackage{xstring} % Utils to manipulate strings
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\usepackage{etoolbox} % Add basic if/then
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\usepackage{esvect} % Beautyfull vectors
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\usepackage{graphicx} % Enhanced support for graphics
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\usepackage{grffile} % Used by matlab2tikz
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\usepackage{microtype} % typographic tuning
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\usepackage{setspace} % for line spacing, e.g. \onehalfspacing
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\usepackage{tabularx} % table features
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\usepackage{enumitem} % for simple list modifications
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\usepackage{booktabs} % better table support
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\usepackage{stackengine} %
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\usepackage[load-configurations=abbreviations]{siunitx} % SI units
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\sisetup{
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locale = US,
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detect-all,
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range-phrase=--,
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range-units=single
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}
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#+end_src
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* Tikz related packages
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#+begin_src latex
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\usepackage{tikz} % Tikz
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\usepackage{tikzscale} % Used to scale Tikz graphics
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\usepackage{adjustbox} % Used to proper positioning of tikz pictures
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\usepackage{circuitikz} % Draw electronic circuits
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\usepackage{pgfpages} % Needed to use notes
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\usepackage{pgfplots} % Used to plot functions
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#+end_src
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* Tikz Libraries
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#+begin_src latex
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\usetikzlibrary{arrows} % Arrow tip library
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\usetikzlibrary{arrows.meta} % Add some arrows
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\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
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\usetikzlibrary{intersections} % calculate intersections of paths
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\usetikzlibrary{matrix} %
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\usetikzlibrary{patterns} %
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\usetikzlibrary{shapes} % Defines circle and rectangle
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\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
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\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
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\usetikzlibrary{positioning} % Additional options for placing nodes
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\usetikzlibrary{3d} % Plot 3D shapes
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\usetikzlibrary{spy} % Creating a magnified area
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\usetikzlibrary{decorations.text} % Used to make text follows a curve
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\usetikzlibrary{decorations.pathmorphing} % deformation of a path
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\usetikzlibrary{decorations.markings} % Used for spring and damper
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\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
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\usetikzlibrary{plotmarks} % This library defines a number of plot marks
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\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
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\usetikzlibrary{backgrounds} % Used to put things under others
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#+end_src
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* PGF Plot libraries and config
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#+begin_src latex
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\usepgfplotslibrary{patchplots}
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\usepgfplotslibrary{groupplots}
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\pgfplotsset{compat=newest}
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\pgfplotsset{plot coordinates/math parser=false}
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#+end_src
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* Setup size of figures
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#+begin_src latex
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\newlength{\fheight}
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\newlength{\fwidth}
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\setlength{\fwidth}{85mm}
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\setlength{\fheight}{112mm}
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#+end_src
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* Setup Arrows style
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#+begin_src latex
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\tikzset{>=Stealth}
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% Setup default Linewidth
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\tikzset{every path/.style={line width=1pt}}
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#+end_src
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* Colors
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#+begin_src latex
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\usepackage{xcolor}% Color extension
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\definecolor{colorblack}{rgb}{0, 0, 0}
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\definecolor{colorblue}{rgb}{0, 0.4470, 0.7410}
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\definecolor{colorred}{rgb}{0.8500, 0.3250, 0.0980}
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\definecolor{coloryellow}{rgb}{0.9290, 0.6940, 0.1250}
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\definecolor{colorpurple}{rgb}{0.4940, 0.1840, 0.5560}
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\definecolor{colorgreen}{rgb}{0.4660, 0.6740, 0.1880}
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\definecolor{colorcyan}{rgb}{0.3010, 0.7450, 0.9330}
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\definecolor{colorbordeau}{rgb}{0.6350, 0.0780, 0.1840}
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% Main color
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\definecolor{maincolor}{RGB}{89, 9, 38}
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\definecolor{secondcolor}{RGB}{20, 9, 89}
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#+end_src
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* Control
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** Blocks
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#+begin_src latex
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\tikzset{%
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block/.style n args={2}{%
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draw,
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fill=white,
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minimum width = #1,
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minimum height = #2,
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},
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block/.default={1.2cm}{1.0cm}
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}
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#+end_src
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** TODO Branches
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#+begin_src latex
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\tikzstyle{branch}=[fill,shape=circle,minimum size=4pt,inner sep=0pt]
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\tikzstyle{->top}=[-{Stealth[color=black, scale=0.8]}, draw=white, double=black, double distance=1pt, line width=1pt]
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\tikzstyle{<-top}=[{stealth[color=black, scale=0.8]}-, draw=white, double=black, double distance=1pt, line width=1pt]
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#+end_src
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** TODO Hand Writen Style
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Usefull for schematic plots
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#+begin_src latex
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\tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}]
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#+end_src
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** DAC
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#+begin_src latex
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\tikzset{%
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DAC/.style={%
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draw,
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signal,
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}
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}
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#+end_src
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** ADC
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#+begin_src latex
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\tikzset{%
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ADC/.style={%
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draw,
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signal,
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signal to = west,
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}
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}
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#+end_src
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** TODO Gain
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Maybe use =isosceles= instead of regular polygon?
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#+begin_src latex
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\tikzset{%
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gain right/.style={%
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draw,
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regular polygon,
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regular polygon sides = 3,
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inner sep = 2pt,
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shape border rotate=-90
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},
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gain left/.style={%
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draw,
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regular polygon,
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regular polygon sides = 3,
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inner sep = 2pt,
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shape border rotate=90
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},
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gain top/.style={%
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draw,
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regular polygon,
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regular polygon sides = 3,
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inner sep = 2pt,
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shape border rotate=0
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},
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gain bottom/.style={%
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draw,
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regular polygon,
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regular polygon sides = 3,
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inner sep = 2pt,
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shape border rotate=180
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},
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}
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#+end_src
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** Add / Substract / Divide / Multiply block
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#+begin_src latex
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\tikzset{% Add block with Circled operations
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addc/.style n args={5}{%
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draw,
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fill=white,
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circle,
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outer sep = 0pt,
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inner sep = 0pt,
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minimum size = 2em,
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execute at begin node={\LARGE $#1$},
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append after command={\pgfextra{\let\mainnode=\tikzlastnode}
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\ifx#2\empty\else
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node[draw, circle, outer sep=6pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
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\fi
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\ifx#3\empty\else
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node[draw, circle, outer sep=6pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
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\fi
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\ifx#4\empty\else
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node[draw, circle, outer sep=6pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
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\fi
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\ifx#5\empty\else
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node[draw, circle, outer sep=6pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
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\fi
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}
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},
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addc/.default={+}{}{}{}{},
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}
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#+end_src
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#+begin_src latex
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\tikzset{% Add Block
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addb/.style n args={5}{%
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draw,
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fill=white,
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circle,
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outer sep = 0pt,
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inner sep = 0pt,
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minimum size = 2em,
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execute at begin node={\LARGE $#1$},
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append after command={\pgfextra{\let\mainnode=\tikzlastnode}
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\ifx#2\empty\else
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node[outer sep=2pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
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\fi
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\ifx#3\empty\else
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node[outer sep=2pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
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\fi
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\ifx#4\empty\else
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node[outer sep=2pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
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\fi
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\ifx#5\empty\else
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node[outer sep=2pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
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\fi
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}
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},
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addb/.default={+}{}{}{}{},
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}
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#+end_src
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* Plots
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** Grid
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#+begin_src latex
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\pgfplotsset{grid style={black}}
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\pgfplotsset{major grid style={black!30!white}}
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\pgfplotsset{minor grid style={black!10!white}}
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\pgfplotsset{xmajorgrids}
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\pgfplotsset{ymajorgrids}
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#+end_src
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** Lines
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#+begin_src latex
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\pgfplotsset{separate axis lines=false} % draw axis as rectangle and not as 4 lines
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\pgfplotsset{every outer x axis line/.append style={black}}
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\pgfplotsset{every outer y axis line/.append style={black}}
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\pgfplotsset{axis background/.style={fill=white}}
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\pgfplotsset{axis x line*=bottom} % solid line on the bottom with thin on the top
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\pgfplotsset{axis y line*=left} % solid line on the left with thin on the right
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#+end_src
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** Ticks
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#+begin_src latex
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\pgfplotsset{every y tick label/.append style={font=\color{black}}}
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\pgfplotsset{every y tick/.append style={black}}
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\pgfplotsset{every x tick label/.append style={font=\color{black}}}
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\pgfplotsset{every x tick/.append style={black}}
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#+end_src
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** Size
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If =scale only axis=false= (the default), pgfplots will try to produce the desired width including labels, titles and ticks.
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#+begin_src latex
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\pgfplotsset{scale only axis=true}
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#+end_src
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** Label
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Used to align all of ylabel of one figure.
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#+begin_src latex
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\pgfplotsset{ylabel absolute}
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#+end_src
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** Legend
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#+begin_src latex
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% https://tex.stackexchange.com/questions/54794/using-a-pgfplots-style-legend-in-a-plain-old-tikzpicture#54834
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% argument #1: any options
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\newenvironment{customlegend}[1][]{%
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\begingroup
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% inits/clears the lists (which might be populated from previous
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% axes):
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\csname pgfplots@init@cleared@structures\endcsname
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\pgfplotsset{#1}%
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}{%
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% draws the legend:
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\csname pgfplots@createlegend\endcsname
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\endgroup
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}%
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% makes \addlegendimage available (typically only available within an
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% axis environment):
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\def\addlegendimage{\csname pgfplots@addlegendimage\endcsname}
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% definition to insert numbers
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% \pgfkeys{/pgfplots/number in legend/.style={%
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% /pgfplots/legend image code/.code={%
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% \node at (0.125,-0.0225){#1}; % <= changed x value
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||||
% },%
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% },
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% }
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\pgfplotsset{
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every legend to name picture/.style={west}
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}
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#+end_src
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** Upper and Lower bounds
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#+begin_src latex
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\tikzstyle{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}]
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||||
\tikzstyle{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}]
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||||
#+end_src
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||||
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||||
And we add the corresdonding
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||||
#+begin_src latex
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||||
\pgfplotsset{
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||||
/pgfplots/upperbound/.style 1 args={
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legend image code/.code={
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||||
\draw[##1, upperbound]
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||||
plot coordinates {
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||||
(0cm,0cm)
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||||
(0.6cm,0cm)
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||||
}
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||||
}
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||||
}
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||||
}
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||||
#+end_src
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||||
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||||
** Pole
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||||
#+begin_src latex
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||||
\tikzset{%
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||||
pole/.style{%
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||||
color=red,
|
||||
cross out,
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||||
draw,
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||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
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||||
},
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||||
pole/.default={4}
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||||
}
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||||
#+end_src
|
||||
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||||
** Zero
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||||
#+begin_src latex
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||||
\tikzset{%
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||||
zero/.style{%
|
||||
color=red,
|
||||
circle,
|
||||
draw,
|
||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
|
||||
},
|
||||
zero/.default={4}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Mechanical
|
||||
** Spring
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||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
spring/.style={%
|
||||
thick,
|
||||
decoration={
|
||||
zigzag,
|
||||
pre length = #1cm,
|
||||
post length = #1cm,
|
||||
segment length = 6
|
||||
},
|
||||
decorate
|
||||
},
|
||||
spring/.default={0.2}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Coil
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
coil/.style n args={2}{%
|
||||
thick,
|
||||
decoration={
|
||||
coil,
|
||||
pre length = #1cm,
|
||||
post length = #2cm,
|
||||
segment length = 4
|
||||
},
|
||||
decorate
|
||||
},
|
||||
coil/.default={0.3}{0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Damper
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
damper/.style n args={2}{%
|
||||
thick,
|
||||
decoration={markings, mark connection node=dmp, mark=at position 0.5 with {
|
||||
\node (dmp) [thick,
|
||||
inner sep = 0pt,
|
||||
transform shape,
|
||||
rotate =-90,
|
||||
minimum width = #1pt,
|
||||
minimum height = #2pt,
|
||||
draw=none] {};
|
||||
\draw [thick] ($(dmp.north east)+(0.6*#2pt,0)$) -- (dmp.south east) -- (dmp.south west) -- ($(dmp.north west)+(0.6*#2pt,0)$);
|
||||
\draw [thick] ($(dmp.north)+(0,-0.3*#1pt)$) -- ($(dmp.north)+(0,0.3*#1pt)$);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
damper/.default={12}{3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Actuator
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
actuator/.style n args={2}{%
|
||||
thick,
|
||||
draw=none,
|
||||
decoration={
|
||||
markings,
|
||||
mark connection node=my node,
|
||||
mark=at position .5 with {
|
||||
\node [draw, inner sep=0pt, minimum width=#1cm, minimum height=#2cm,
|
||||
transform shape, fill=white] (my node) {};
|
||||
},
|
||||
mark=at position .0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
},
|
||||
mark=at position 1.0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
actuator/.default={0.5}{0.2}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Ground
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
ground/.style n args={2}{%
|
||||
fill,
|
||||
pattern = north east lines,
|
||||
draw = none,
|
||||
anchor = north,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
append after command={
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.north east)
|
||||
}
|
||||
},
|
||||
ground/.default={2.5}{0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Force Sensor
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
forcesensor/.style n args={2}{%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south,
|
||||
minimum width =#1cm,
|
||||
minimum height=#2cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
forcesensor/.default={2.0}{0.5}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Inertial Sensor
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
inertialsensor/.style={%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south east,
|
||||
minimum size=#1cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
inertialsensor/.default={0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Axis Rotator
|
||||
#+begin_src latex
|
||||
\newcommand{\AxisRotator}[1][rotate=0]{%
|
||||
\tikz [x=0.1cm,y=0.30cm,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);%
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Cross
|
||||
#+begin_src latex
|
||||
\tikzstyle{cross}=[path picture={
|
||||
\draw[black]
|
||||
(path picture bounding box.south east) -- (path picture bounding box.north west) (path picture bounding box.south west) -- (path picture bounding box.north east);
|
||||
}]
|
||||
|
||||
#+end_src
|
||||
|
||||
** Piezoelectric actuator
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
piezo/.style n args={3}{%
|
||||
draw,
|
||||
rectangle,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
fill=blue!10!white,
|
||||
anchor=center,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
\foreach \i in {1,...,#3}{
|
||||
(${\i/(1+#3)}*(\tikzlastnode.north west)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south west)+0.1*(#1,0)$) edge (${\i/(1+#3)}*(\tikzlastnode.north east)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south east)-0.1*(#1,0)$)
|
||||
}
|
||||
}
|
||||
},
|
||||
piezo/.default={2}{4}{10}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Voice coil
|
||||
#+begin_src latex
|
||||
\def\voicecoil#1#2#3{
|
||||
% ======================
|
||||
% Parameters
|
||||
% ======================
|
||||
\def\voicecoilw{#1} % Total Width
|
||||
\def\voicecoilh{#2} % Total Height
|
||||
|
||||
\def\magnetw{\voicecoilw} % Width of the magnet
|
||||
\def\magneth{\voicecoilh/1.4} % Height of the magnet
|
||||
|
||||
\def\magnetwb{0.15*\magnetw} % Width of the borders of the magnet
|
||||
\def\magnetmw{0.15*\magnetw} % Width of the middle part of the magnet
|
||||
\def\magnetwg{0.5*\magnetw} % Width of the gap of the magnet
|
||||
|
||||
\def\magnethl{\magnetwb} % Height of the low part of the magnet
|
||||
\def\magnetmh{0.15*\magneth} % Height of the middle part of the magnet
|
||||
\def\magnethg{0.2*\magneth} % Height of the gap of the magnet
|
||||
% ======================
|
||||
|
||||
\begin{scope}[shift={(0.5*\voicecoilw, 0.5*\voicecoilh)}, rotate=#3, shift={(0, -0.5*\voicecoilh)}]
|
||||
% ======================
|
||||
% Magnet
|
||||
% ======================
|
||||
\draw[fill=white] (0, 0) -| ++(0.5*\magnetw, \magneth) -| ++(-0.5*\magnetw+0.5*\magnetwg, -\magnethg) -| (0.5*\magnetw-\magnetwb, \magnethl) -| (-0.5*\magnetw+\magnetwb, \magneth-\magnethg) -| (-0.5*\magnetwg, \magneth) -| (-0.5*\magnetw, 0) -- (cycle);
|
||||
\begin{scope}[shift={(0, \magnethl)}]
|
||||
\draw[fill=red] (-0.5*\magnetmw, 0) rectangle (0.5*\magnetmw, \magnetmh);
|
||||
\draw[fill=blue] (-0.5*\magnetmw, \magnetmh) rectangle (0.5*\magnetmw, 2*\magnetmh);
|
||||
% Top conductive Magnet
|
||||
\draw[fill=white] (-0.5*\magnetmw, 2*\magnetmh) -| (0.5*\magnetmw, -\magnethl+\magneth-\magnethg) -| ++(0.1, \magnethg) -| ++(-0.2-\magnetmw, -\magnethg) -| (-0.5*\magnetmw, \magnetmh);
|
||||
\end{scope}
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coil
|
||||
% ======================
|
||||
\pgfmathsetmacro{\coilwidth}{0.5*0.5*\magnetmw+0.5*0.1+0.25*\magnetwg}%
|
||||
\draw[] ( \coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
\draw[] (-\coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
% Point on the coil
|
||||
\foreach \x in {0,1,...,9}
|
||||
{
|
||||
\node[circle,inner sep=0.6pt,fill] at ( \coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
\node[circle,inner sep=0.6pt,fill] at (-\coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
}
|
||||
\draw[fill=white] (-0.5*\magnetw, 1.2*\magneth) rectangle ++(\magnetw, \magnethg);
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coordinates
|
||||
% ======================
|
||||
% Force
|
||||
\coordinate[] (vc_force) at (0, \magneth-0.5*\magnethg);
|
||||
% Coil
|
||||
\coordinate[] (vc_coil) at (0, \voicecoilh);
|
||||
% Magnet
|
||||
\coordinate[] (vc_magnet) at (0, 0);
|
||||
% Coil Wires
|
||||
\coordinate[] (vc_wire_one) at ( \coilwidth, 1.2*\magneth);
|
||||
\coordinate[] (vc_wire_two) at (-\coilwidth, 1.2*\magneth);
|
||||
% ======================
|
||||
\end{scope}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Optics
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
->-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{>}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
\tikzset{%
|
||||
-<-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{<}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Misc
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
labelc/.style= {%
|
||||
draw,
|
||||
fill=white,
|
||||
shape=circle,
|
||||
inner sep=2pt,
|
||||
outer sep=6pt,
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
556
tikz/config.tex
Normal file
556
tikz/config.tex
Normal file
@@ -0,0 +1,556 @@
|
||||
\usepackage[utf8]{inputenc}
|
||||
\usepackage[T1]{fontenc}
|
||||
|
||||
\usepackage[french, english]{babel} % Last language is main language
|
||||
|
||||
\usepackage{lmodern} % Latin Modern Font
|
||||
\usepackage{gensymb} % Generic symbols for both text and math mode
|
||||
|
||||
\usepackage{standalone} % Used to generate standalone Tikz
|
||||
|
||||
\usepackage{amsmath} % Main math Package
|
||||
\usepackage{mathtools} % Extension package to amsmath
|
||||
\usepackage{amsthm} % Typesetting theorems (AMS style)
|
||||
\usepackage{amsfonts} % More fonts from the AMS
|
||||
\usepackage{textcomp} % provide many text symbols
|
||||
\usepackage{steinmetz} % For phase symbol
|
||||
|
||||
\usepackage{xstring} % Utils to manipulate strings
|
||||
\usepackage{etoolbox} % Add basic if/then
|
||||
\usepackage{esvect} % Beautyfull vectors
|
||||
\usepackage{graphicx} % Enhanced support for graphics
|
||||
\usepackage{grffile} % Used by matlab2tikz
|
||||
|
||||
\usepackage{microtype} % typographic tuning
|
||||
\usepackage{setspace} % for line spacing, e.g. \onehalfspacing
|
||||
\usepackage{tabularx} % table features
|
||||
\usepackage{enumitem} % for simple list modifications
|
||||
\usepackage{booktabs} % better table support
|
||||
|
||||
\usepackage{stackengine} %
|
||||
|
||||
\usepackage[load-configurations=abbreviations]{siunitx} % SI units
|
||||
\sisetup{
|
||||
locale = US,
|
||||
detect-all,
|
||||
range-phrase=--,
|
||||
range-units=single
|
||||
}
|
||||
|
||||
\usepackage{tikz} % Tikz
|
||||
\usepackage{tikzscale} % Used to scale Tikz graphics
|
||||
\usepackage{adjustbox} % Used to proper positioning of tikz pictures
|
||||
\usepackage{circuitikz} % Draw electronic circuits
|
||||
\usepackage{pgfpages} % Needed to use notes
|
||||
\usepackage{pgfplots} % Used to plot functions
|
||||
|
||||
\usetikzlibrary{arrows} % Arrow tip library
|
||||
\usetikzlibrary{arrows.meta} % Add some arrows
|
||||
\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
|
||||
\usetikzlibrary{intersections} % calculate intersections of paths
|
||||
\usetikzlibrary{matrix} %
|
||||
\usetikzlibrary{patterns} %
|
||||
\usetikzlibrary{shapes} % Defines circle and rectangle
|
||||
\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
|
||||
\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
|
||||
\usetikzlibrary{positioning} % Additional options for placing nodes
|
||||
\usetikzlibrary{3d} % Plot 3D shapes
|
||||
\usetikzlibrary{spy} % Creating a magnified area
|
||||
\usetikzlibrary{decorations.text} % Used to make text follows a curve
|
||||
\usetikzlibrary{decorations.pathmorphing} % deformation of a path
|
||||
\usetikzlibrary{decorations.markings} % Used for spring and damper
|
||||
\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
|
||||
\usetikzlibrary{plotmarks} % This library defines a number of plot marks
|
||||
\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
|
||||
\usetikzlibrary{backgrounds} % Used to put things under others
|
||||
|
||||
\usepgfplotslibrary{patchplots}
|
||||
\usepgfplotslibrary{groupplots}
|
||||
|
||||
\pgfplotsset{compat=newest}
|
||||
\pgfplotsset{plot coordinates/math parser=false}
|
||||
|
||||
\newlength{\fheight}
|
||||
\newlength{\fwidth}
|
||||
|
||||
\setlength{\fwidth}{85mm}
|
||||
\setlength{\fheight}{112mm}
|
||||
|
||||
\tikzset{>=Stealth}
|
||||
% Setup default Linewidth
|
||||
\tikzset{every path/.style={line width=1pt}}
|
||||
|
||||
\usepackage{xcolor}% Color extension
|
||||
|
||||
\definecolor{colorblack}{rgb}{0, 0, 0}
|
||||
\definecolor{colorblue}{rgb}{0, 0.4470, 0.7410}
|
||||
\definecolor{colorred}{rgb}{0.8500, 0.3250, 0.0980}
|
||||
\definecolor{coloryellow}{rgb}{0.9290, 0.6940, 0.1250}
|
||||
\definecolor{colorpurple}{rgb}{0.4940, 0.1840, 0.5560}
|
||||
\definecolor{colorgreen}{rgb}{0.4660, 0.6740, 0.1880}
|
||||
\definecolor{colorcyan}{rgb}{0.3010, 0.7450, 0.9330}
|
||||
\definecolor{colorbordeau}{rgb}{0.6350, 0.0780, 0.1840}
|
||||
|
||||
% Main color
|
||||
\definecolor{maincolor}{RGB}{89, 9, 38}
|
||||
\definecolor{secondcolor}{RGB}{20, 9, 89}
|
||||
|
||||
\tikzset{%
|
||||
block/.style n args={2}{%
|
||||
draw,
|
||||
fill=white,
|
||||
minimum width = #1,
|
||||
minimum height = #2,
|
||||
},
|
||||
block/.default={1.2cm}{1.0cm}
|
||||
}
|
||||
|
||||
\tikzstyle{branch}=[fill,shape=circle,minimum size=4pt,inner sep=0pt]
|
||||
\tikzstyle{->top}=[-{Stealth[color=black, scale=0.8]}, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
\tikzstyle{<-top}=[{stealth[color=black, scale=0.8]}-, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
|
||||
\tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}]
|
||||
|
||||
\tikzset{%
|
||||
DAC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
ADC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
signal to = west,
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
gain right/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=-90
|
||||
},
|
||||
gain left/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=90
|
||||
},
|
||||
gain top/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=0
|
||||
},
|
||||
gain bottom/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=180
|
||||
},
|
||||
}
|
||||
|
||||
\tikzset{% Add block with Circled operations
|
||||
addc/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addc/.default={+}{}{}{}{},
|
||||
}
|
||||
|
||||
\tikzset{% Add Block
|
||||
addb/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addb/.default={+}{}{}{}{},
|
||||
}
|
||||
|
||||
\pgfplotsset{grid style={black}}
|
||||
\pgfplotsset{major grid style={black!30!white}}
|
||||
\pgfplotsset{minor grid style={black!10!white}}
|
||||
\pgfplotsset{xmajorgrids}
|
||||
\pgfplotsset{ymajorgrids}
|
||||
|
||||
\pgfplotsset{separate axis lines=false} % draw axis as rectangle and not as 4 lines
|
||||
\pgfplotsset{every outer x axis line/.append style={black}}
|
||||
\pgfplotsset{every outer y axis line/.append style={black}}
|
||||
\pgfplotsset{axis background/.style={fill=white}}
|
||||
\pgfplotsset{axis x line*=bottom} % solid line on the bottom with thin on the top
|
||||
\pgfplotsset{axis y line*=left} % solid line on the left with thin on the right
|
||||
|
||||
\pgfplotsset{every y tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every y tick/.append style={black}}
|
||||
\pgfplotsset{every x tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every x tick/.append style={black}}
|
||||
|
||||
\pgfplotsset{scale only axis=true}
|
||||
|
||||
\pgfplotsset{ylabel absolute}
|
||||
|
||||
% https://tex.stackexchange.com/questions/54794/using-a-pgfplots-style-legend-in-a-plain-old-tikzpicture#54834
|
||||
|
||||
% argument #1: any options
|
||||
\newenvironment{customlegend}[1][]{%
|
||||
\begingroup
|
||||
% inits/clears the lists (which might be populated from previous
|
||||
% axes):
|
||||
\csname pgfplots@init@cleared@structures\endcsname
|
||||
\pgfplotsset{#1}%
|
||||
}{%
|
||||
% draws the legend:
|
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\def\voicecoil#1#2#3{
|
||||
% ======================
|
||||
% Parameters
|
||||
% ======================
|
||||
\def\voicecoilw{#1} % Total Width
|
||||
\def\voicecoilh{#2} % Total Height
|
||||
|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
\def\magnethg{0.2*\magneth} % Height of the gap of the magnet
|
||||
% ======================
|
||||
|
||||
\begin{scope}[shift={(0.5*\voicecoilw, 0.5*\voicecoilh)}, rotate=#3, shift={(0, -0.5*\voicecoilh)}]
|
||||
% ======================
|
||||
% Magnet
|
||||
% ======================
|
||||
\draw[fill=white] (0, 0) -| ++(0.5*\magnetw, \magneth) -| ++(-0.5*\magnetw+0.5*\magnetwg, -\magnethg) -| (0.5*\magnetw-\magnetwb, \magnethl) -| (-0.5*\magnetw+\magnetwb, \magneth-\magnethg) -| (-0.5*\magnetwg, \magneth) -| (-0.5*\magnetw, 0) -- (cycle);
|
||||
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|
||||
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|
||||
\draw[fill=blue] (-0.5*\magnetmw, \magnetmh) rectangle (0.5*\magnetmw, 2*\magnetmh);
|
||||
% Top conductive Magnet
|
||||
\draw[fill=white] (-0.5*\magnetmw, 2*\magnetmh) -| (0.5*\magnetmw, -\magnethl+\magneth-\magnethg) -| ++(0.1, \magnethg) -| ++(-0.2-\magnetmw, -\magnethg) -| (-0.5*\magnetmw, \magnetmh);
|
||||
\end{scope}
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coil
|
||||
% ======================
|
||||
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|
||||
\draw[] ( \coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
\draw[] (-\coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
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% Point on the coil
|
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|
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{
|
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\node[circle,inner sep=0.6pt,fill] at ( \coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
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|
||||
}
|
||||
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|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coordinates
|
||||
% ======================
|
||||
% Force
|
||||
\coordinate[] (vc_force) at (0, \magneth-0.5*\magnethg);
|
||||
% Coil
|
||||
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|
||||
% Magnet
|
||||
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|
||||
% Coil Wires
|
||||
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|
||||
\coordinate[] (vc_wire_two) at (-\coilwidth, 1.2*\magneth);
|
||||
% ======================
|
||||
\end{scope}
|
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|
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|
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BIN
tikz/figs/comp_filter_three_hinf.pdf
Normal file
BIN
tikz/figs/comp_filter_three_hinf.pdf
Normal file
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BIN
tikz/figs/comp_filter_three_hinf.png
Normal file
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tikz/figs/comp_filter_three_hinf.png
Normal file
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After Width: | Height: | Size: 17 KiB |
184
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184
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<h1 class="title">Optimal and Robust Complementary Filters for Sensor Fusion - Tikz Figures</h1>
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<div id="table-of-contents">
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<ul>
|
||||
<li><a href="#org815a564">1. Change some default</a></li>
|
||||
<li><a href="#org4640d64">2. H-Infinity - Complementary filters - Generalized plant</a></li>
|
||||
<li><a href="#org0b11ce2">3. H-Infinity - Complementary filters</a></li>
|
||||
<li><a href="#org958e1e2">4. H-Infinity - Optimal Complementary Filters</a></li>
|
||||
<li><a href="#org25d9a1b">5. Fusion of two noisy sensors</a></li>
|
||||
<li><a href="#orga9ed288">6. Fusion of two noisy signals</a></li>
|
||||
<li><a href="#org22dfd5b">7. Fusion of two noisy sensors with Dynamics</a></li>
|
||||
<li><a href="#org855fa9e">8. Fusion of two noisy sensors with Dynamics - Bis</a></li>
|
||||
<li><a href="#org11ffe09">9. Fusion of two sensors with mismatch dynamics</a></li>
|
||||
<li><a href="#org7af9faf">10. Uncertainty to Phase and Gain variation</a></li>
|
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<li><a href="#orge5f551d">11. Generate Complementary Filters using Feedback Control Architecture</a></li>
|
||||
<li><a href="#org9ce2a6b">12. H-Infinity Synthesis for Robust Sensor Fusion</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Configuration file is accessible <a href="config.html">here</a>.
|
||||
</p>
|
||||
|
||||
<div id="outline-container-org815a564" class="outline-2">
|
||||
<h2 id="org815a564"><span class="section-number-2">1</span> Change some default</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex" id="org862c935"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4640d64" class="outline-2">
|
||||
<h2 id="org4640d64"><span class="section-number-2">2</span> H-Infinity - Complementary filters - Generalized plant</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (P.north) {<span class="org-font-latex-math">$P$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<span class="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<span class="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<span class="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<span class="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputl] (WL){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_L</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputh] (WH){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_H</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of WH] (sub) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputw) node[above right]{<span class="org-font-latex-math">$w$</span>} -- (sub.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputu) node[above right]{<span class="org-font-latex-math">$u$</span>} -- (WL.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub.east) -- (WH.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(inputw)+(2*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) node[branch]{} |- (outputv) node[above left]{<span class="org-font-latex-math">$v$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (WH.east) -- (outputh)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_H</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (WL.east) -- (outputl)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_L</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc12e3d2" class="figure">
|
||||
<p><img src="figs/sf_hinf_filters_plant_b.png" alt="sf_hinf_filters_plant_b.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>H-Infinity - Complementary filters - Generalized plant (<a href="./figs/sf_hinf_filters_plant_b.png">png</a>, <a href="./figs/sf_hinf_filters_plant_b.pdf">pdf</a>, <a href="./figs/sf_hinf_filters_plant_b.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0b11ce2" class="outline-2">
|
||||
<h2 id="org0b11ce2"><span class="section-number-2">3</span> H-Infinity - Complementary filters</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (P.north) {<span class="org-font-latex-math">$P$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<span class="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<span class="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<span class="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<span class="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputl] (WL){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_L</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputh] (WH){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_H</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of WH] (sub) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=<span class="org-font-latex-sedate">\cdist</span> of P] (HL) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_L</span></span><span class="org-font-latex-math">$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputw) node[above right]{<span class="org-font-latex-math">$w$</span>} -- (sub.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (HL.west) -| (<span class="org-font-latex-math">$(inputu)+(0.5*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) -- (WL.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub.east) -- (WH.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(inputw)+(2*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) node[branch]{} |- (<span class="org-font-latex-math">$(outputv)+(-0.5*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) |- (HL.east);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (WH.east) -- (outputh)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_H</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (WL.east) -- (outputl)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_L</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgd11c746" class="figure">
|
||||
<p><img src="figs/sf_hinf_filters_b.png" alt="sf_hinf_filters_b.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>H-Infinity - Complementary filters (<a href="./figs/sf_hinf_filters_b.png">png</a>, <a href="./figs/sf_hinf_filters_b.pdf">pdf</a>, <a href="./figs/sf_hinf_filters_b.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org958e1e2" class="outline-2">
|
||||
<h2 id="org958e1e2"><span class="section-number-2">4</span> H-Infinity - Optimal Complementary Filters</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/h_infinity_optimal_comp_filters.png">png</a>, <a href="./figs/h_infinity_optimal_comp_filters.pdf">pdf</a> and <a href="./figs/h_infinity_optimal_comp_filters.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[block={5.0cm}{3.0cm}, dashed] (P) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (P.north) {<span class="org-font-latex-math">$P$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputn1) at (<span class="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputn2) at (<span class="org-font-latex-math">$(P.south west)!0.5!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<span class="org-font-latex-math">$(P.south west)!0.2!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputx) at (<span class="org-font-latex-math">$(P.south east)!0.5!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1.5 of inputn1] (W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1.5 of inputn2] (W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, right=of W1] (sub) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=2 of W2] (add) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=of P] (H1) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputn1)node[above right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>} -- (W1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputn2)node[above right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>} -- (W2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1) -- (sub.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2) -| (sub.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2-|sub.south) node[branch]{} -- (add.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub.east) -- ++(0.5, 0) |- (<span class="org-font-latex-math">$(outputv) + (-0.3, 0)$</span>) |- (H1.east);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1.west) -| (<span class="org-font-latex-math">$(inputu) + (0.3, 0)$</span>) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- (outputx) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgace7a2f" class="figure">
|
||||
<p><img src="figs/h_infinity_optimal_comp_filters.png" alt="h_infinity_optimal_comp_filters.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>H-Infinity - Optimal Complementary Filters (<a href="./figs/h_infinity_optimal_comp_filters.png">png</a>, <a href="./figs/h_infinity_optimal_comp_filters.pdf">pdf</a>, <a href="./figs/h_infinity_optimal_comp_filters.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org25d9a1b" class="outline-2">
|
||||
<h2 id="org25d9a1b"><span class="section-number-2">5</span> Fusion of two noisy sensors</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/fusion_two_noisy_sensors.png">png</a>, <a href="./figs/fusion_two_noisy_sensors.pdf">pdf</a> and <a href="./figs/fusion_two_noisy_sensors.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, above right=1.5 and 1 of x](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, below right=1.5 and 1 of x](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above=0.5 of add1](W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above=0.5 of add2](W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=4 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-1, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (add1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (add2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.south) -- (add1.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.south) -- (add2.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (W1.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (W2.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add1.east) -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add2.east) -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1) -| (add.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org8abe259" class="figure">
|
||||
<p><img src="figs/fusion_two_noisy_sensors.png" alt="fusion_two_noisy_sensors.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Fusion of two noisy sensors (<a href="./figs/fusion_two_noisy_sensors.png">png</a>, <a href="./figs/fusion_two_noisy_sensors.pdf">pdf</a>, <a href="./figs/fusion_two_noisy_sensors.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orga9ed288" class="outline-2">
|
||||
<h2 id="orga9ed288"><span class="section-number-2">6</span> Fusion of two noisy signals</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/fusion_two_signals.png">png</a>, <a href="./figs/fusion_two_signals.pdf">pdf</a> and <a href="./figs/fusion_two_signals.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[addb] (add) at (0, 0){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left=0.5 and 0.8 of add] (H1) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below left=0.5 and 0.8 of add] (H2) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(H1.west)+(-1.5, 0)$</span>)node[above right]{<span class="org-font-latex-math">$x + n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>} -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(H2.west)+(-1.5, 0)$</span>)node[above right]{<span class="org-font-latex-math">$x + n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>} -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1) -| (add.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgfca7098" class="figure">
|
||||
<p><img src="figs/fusion_two_signals.png" alt="fusion_two_signals.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Fusion of two noisy sensors (<a href="./figs/fusion_two_signals.png">png</a>, <a href="./figs/fusion_two_signals.pdf">pdf</a>, <a href="./figs/fusion_two_signals.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org22dfd5b" class="outline-2">
|
||||
<h2 id="org22dfd5b"><span class="section-number-2">7</span> Fusion of two noisy sensors with Dynamics</h2>
|
||||
<div class="outline-text-2" id="text-7">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/fusion_two_noisy_sensors_with_dyn.png">png</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn.pdf">pdf</a> and <a href="./figs/fusion_two_noisy_sensors_with_dyn.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above right=1.5 and 0.5 of x](G1){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below right=1.5 and 0.5 of x](G2){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=1 of G1](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=1 of G2](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above=0.5 of add1](W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above=0.5 of add2](W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=6 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-1, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (G1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (G2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G1.east) -- (add1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G2.east) -- (add2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.south) -- (add1.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.south) -- (add2.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (W1.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (W2.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add1.east) -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add2.east) -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1) -| (add.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgbba4705" class="figure">
|
||||
<p><img src="figs/fusion_two_noisy_sensors_with_dyn.png" alt="fusion_two_noisy_sensors_with_dyn.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub> (<a href="./figs/fusion_two_noisy_sensors_with_dyn.png">png</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn.pdf">pdf</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org855fa9e" class="outline-2">
|
||||
<h2 id="org855fa9e"><span class="section-number-2">8</span> Fusion of two noisy sensors with Dynamics - Bis</h2>
|
||||
<div class="outline-text-2" id="text-8">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.png">png</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf">pdf</a> and <a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above right=0.5 and 0.5 of x](G1){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below right=0.5 and 0.5 of x](G2){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=1 of G1](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=1 of G2](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=6 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-1, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (G1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (G2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G1.east) -- (add1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G2.east) -- (add2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add1.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add2.north) -- ++(0, 0.8)node[below right]{<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add1.east) -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add2.east) -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1) -| (add.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org041e92e" class="figure">
|
||||
<p><img src="figs/fusion_two_noisy_sensors_with_dyn_bis.png" alt="fusion_two_noisy_sensors_with_dyn_bis.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub><sub>bis</sub> (<a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.png">png</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf">pdf</a>, <a href="./figs/fusion_two_noisy_sensors_with_dyn_bis.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org11ffe09" class="outline-2">
|
||||
<h2 id="org11ffe09"><span class="section-number-2">9</span> Fusion of two sensors with mismatch dynamics</h2>
|
||||
<div class="outline-text-2" id="text-9">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/fusion_two_signals_with_dyn.png">png</a>, <a href="./figs/fusion_two_signals_with_dyn.pdf">pdf</a> and <a href="./figs/fusion_two_signals_with_dyn.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, above right=1 and 3.5 of x](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, below right=1 and 3.5 of x](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left= of add1](delta1){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left= of add2](delta2){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left= of delta1](W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left= of delta2](W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right= of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right= of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=5.5 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-1, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (add1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x) |- (add2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(add1-|W1.west)+(-0.5, 0)$</span>)node[branch]{} |- (W1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(add2-|W2.west)+(-0.5, 0)$</span>)node[branch]{} |- (W2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (delta1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (delta2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (delta1.east) -| (add1.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (delta2.east) -| (add2.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add1.east) -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add2.east) -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1.east) -| (add.north);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2.east) -| (add.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\hat</span></span><span class="org-font-latex-math">{x}$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc18d1e5" class="figure">
|
||||
<p><img src="figs/fusion_gain_mismatch.png" alt="fusion_gain_mismatch.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Fusion of two noisy sensors<sub>with</sub><sub>dyn</sub> (<a href="./figs/fusion_gain_mismatch.png">png</a>, <a href="./figs/fusion_gain_mismatch.pdf">pdf</a>, <a href="./figs/fusion_gain_mismatch.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7af9faf" class="outline-2">
|
||||
<h2 id="org7af9faf"><span class="section-number-2">10</span> Uncertainty to Phase and Gain variation</h2>
|
||||
<div class="outline-text-2" id="text-10">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/uncertainty_gain_phase_variation.png">png</a>, <a href="./figs/uncertainty_gain_phase_variation.pdf">pdf</a> and <a href="./figs/uncertainty_gain_phase_variation.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (-0.5, 0) -- (7, 0) node[below left]{Real};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, -1) -- (0, 1) node[left]{Im};
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (1) at (5, 0){};
|
||||
<span class="org-font-latex-sedate">\node</span>[below] at (1){<span class="org-font-latex-math">$1$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[circle, draw] (c) at (1)[minimum size=2cm]{};
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=2) -- node[midway, right]{<span class="org-font-latex-math">$|H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_i</span></span><span class="org-font-latex-math"> W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_i</span></span><span class="org-font-latex-math">|$</span>} (1);
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed] (2, 0) arc (0:23:1) node[midway, right]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\phi</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-comment">% </span><span class="org-font-latex-sedate"><span class="org-comment">\draw</span></span><span class="org-comment">[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=1) coordinate(cbot);</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org1495cee" class="figure">
|
||||
<p><img src="figs/uncertainty_gain_phase_variation.png" alt="uncertainty_gain_phase_variation.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Uncertainty to Phase and Gain variation (<a href="./figs/uncertainty_gain_phase_variation.png">png</a>, <a href="./figs/uncertainty_gain_phase_variation.pdf">pdf</a>, <a href="./figs/uncertainty_gain_phase_variation.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge5f551d" class="outline-2">
|
||||
<h2 id="orge5f551d"><span class="section-number-2">11</span> Generate Complementary Filters using Feedback Control Architecture</h2>
|
||||
<div class="outline-text-2" id="text-11">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=1 of addfb] (L){<span class="org-font-latex-math">$L$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{}, right=1 of L] (adddy){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (addfb.west) -- ++(-1, 0) node[above right]{<span class="org-font-latex-math">$y</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (addfb.east) -- (L.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (L.east) -- (adddy.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (adddy.east) -- ++(1, 0) node[above left]{<span class="org-font-latex-math">$y</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_s</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(adddy.east) + (0.5, 0)$</span>) node[branch]{} -- ++(0, -1) -| (addfb.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (adddy.north) -- ++(0, 1) node[below right]{<span class="org-font-latex-math">$y</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orge72a5e5" class="figure">
|
||||
<p><img src="figs/complementary_filters_feedback_architecture.png" alt="complementary_filters_feedback_architecture.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Generation of Complementary Filters using the feedback architecture (<a href="./figs/complementary_filters_feedback_architecture.png">png</a>, <a href="./figs/complementary_filters_feedback_architecture.pdf">pdf</a>, <a href="./figs/complementary_filters_feedback_architecture.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9ce2a6b" class="outline-2">
|
||||
<h2 id="org9ce2a6b"><span class="section-number-2">12</span> H-Infinity Synthesis for Robust Sensor Fusion</h2>
|
||||
<div class="outline-text-2" id="text-12">
|
||||
<p>
|
||||
The Tikz figure can be downloaded in the following formats: <a href="./figs/h_infinity_robust_fusion.png">png</a>, <a href="./figs/h_infinity_robust_fusion.pdf">pdf</a> and <a href="./figs/h_infinity_robust_fusion.tex">tex</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{block/.default={0.8cm}{0.6cm}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{addb/.append style={scale=0.7}}
|
||||
<span class="org-font-latex-sedate">\tikzset</span>{node distance=0.6}
|
||||
<span class="org-font-latex-sedate">\def\cdist</span>{0.7}
|
||||
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{T}{rgb}{0.230, 0.299, 0.754}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate">\definecolor</span>{S}{rgb}{0.706, 0.016, 0.150}<span class="org-comment">%</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (P.north) {<span class="org-font-latex-math">$P$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<span class="org-font-latex-math">$(P.south west)!0.8!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<span class="org-font-latex-math">$(P.south west)!0.4!(P.north west) + (-</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputh) at (<span class="org-font-latex-math">$(P.south east)!0.8!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputl) at (<span class="org-font-latex-math">$(P.south east)!0.4!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputl] (W1){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=2*<span class="org-font-latex-sedate">\cdist</span> of outputh] (W2){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of W2] (sub) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=<span class="org-font-latex-sedate">\cdist</span> of P] (H1) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputw) node[above right]{<span class="org-font-latex-math">$w$</span>} -- (sub.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1.west) -| (<span class="org-font-latex-math">$(inputu)+(0.5*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) -- (W1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub.east) -- (W2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(inputw)+(2*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) node[branch]{} |- (<span class="org-font-latex-math">$(outputv)+(-0.5*</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdist</span></span><span class="org-font-latex-math">, 0)$</span>) |- (H1.east);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (outputh)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (outputl)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgcd478e3" class="figure">
|
||||
<p><img src="figs/h_infinity_robust_fusion.png" alt="h_infinity_robust_fusion.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>H-Infinity Synthesis for Robust Sensor Fusion (<a href="./figs/h_infinity_robust_fusion.png">png</a>, <a href="./figs/h_infinity_robust_fusion.pdf">pdf</a>, <a href="./figs/h_infinity_robust_fusion.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-08-14 mer. 12:08</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
387
tikz/index.org
Normal file
387
tikz/index.org
Normal file
@@ -0,0 +1,387 @@
|
||||
#+TITLE: Optimal and Robust Complementary Filters for Sensor Fusion - Tikz Figures
|
||||
:DRAWER:
|
||||
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|
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#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/MEGA/These/Papers/dehaeze19_desig_compl_filte/tikz/}{config.tex}")
|
||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
||||
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+PROPERTY: header-args:latex+ :eval no-export
|
||||
#+PROPERTY: header-args:latex+ :exports both
|
||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||||
#+PROPERTY: header-args:latex+ :noweb yes
|
||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
||||
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||||
:END:
|
||||
|
||||
Configuration file is accessible [[file:config.org][here]].
|
||||
|
||||
* Change some default
|
||||
#+NAME: tikz_default
|
||||
#+begin_src latex :eval no
|
||||
\tikzset{block/.default={0.8cm}{0.6cm}}
|
||||
\tikzset{addb/.append style={scale=0.7}}
|
||||
\tikzset{node distance=0.6}
|
||||
\def\cdist{0.7}
|
||||
|
||||
\definecolor{T}{rgb}{0.230, 0.299, 0.754}%
|
||||
\definecolor{S}{rgb}{0.706, 0.016, 0.150}%
|
||||
#+end_src
|
||||
|
||||
* H-Infinity - Complementary filters - Generalized plant
|
||||
#+begin_src latex :file sf_hinf_filters_plant_b.pdf :tangle figs/sf_hinf_filters_plant_b.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.4!(P.north west) + (-\cdist, 0)$);
|
||||
|
||||
\coordinate[] (outputh) at ($(P.south east)!0.8!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputl) at ($(P.south east)!0.4!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( \cdist, 0)$);
|
||||
|
||||
\node[block, left=2*\cdist of outputl] (WL){$w_L$};
|
||||
\node[block, left=2*\cdist of outputh] (WH){$w_H$};
|
||||
\node[addb={+}{}{}{}{-}, left=of WH] (sub) {};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
|
||||
\draw[->] (inputu) node[above right]{$u$} -- (WL.west);
|
||||
\draw[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
\draw[->] (sub.east) -- (WH.west);
|
||||
\draw[->] ($(inputw)+(2*\cdist, 0)$) node[branch]{} |- (outputv) node[above left]{$v$};
|
||||
\draw[->] (WH.east) -- (outputh)node[above left]{$z_H$};
|
||||
\draw[->] (WL.east) -- (outputl)node[above left]{$z_L$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sf_hinf_filters_plant_b
|
||||
#+caption: H-Infinity - Complementary filters - Generalized plant ([[./figs/sf_hinf_filters_plant_b.png][png]], [[./figs/sf_hinf_filters_plant_b.pdf][pdf]], [[./figs/sf_hinf_filters_plant_b.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sf_hinf_filters_plant_b.png]]
|
||||
|
||||
* H-Infinity - Complementary filters
|
||||
#+begin_src latex :file sf_hinf_filters_b.pdf :tangle figs/sf_hinf_filters_b.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.4!(P.north west) + (-\cdist, 0)$);
|
||||
|
||||
\coordinate[] (outputh) at ($(P.south east)!0.8!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputl) at ($(P.south east)!0.4!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( \cdist, 0)$);
|
||||
|
||||
\node[block, left=2*\cdist of outputl] (WL){$w_L$};
|
||||
\node[block, left=2*\cdist of outputh] (WH){$w_H$};
|
||||
\node[addb={+}{}{}{}{-}, left=of WH] (sub) {};
|
||||
|
||||
\node[block, below=\cdist of P] (HL) {$H_L$};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
|
||||
\draw[->] (HL.west) -| ($(inputu)+(0.5*\cdist, 0)$) -- (WL.west);
|
||||
\draw[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
\draw[->] (sub.east) -- (WH.west);
|
||||
\draw[->] ($(inputw)+(2*\cdist, 0)$) node[branch]{} |- ($(outputv)+(-0.5*\cdist, 0)$) |- (HL.east);
|
||||
\draw[->] (WH.east) -- (outputh)node[above left]{$z_H$};
|
||||
\draw[->] (WL.east) -- (outputl)node[above left]{$z_L$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sf_hinf_filters_b
|
||||
#+caption: H-Infinity - Complementary filters ([[./figs/sf_hinf_filters_b.png][png]], [[./figs/sf_hinf_filters_b.pdf][pdf]], [[./figs/sf_hinf_filters_b.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sf_hinf_filters_b.png]]
|
||||
|
||||
* H-Infinity - Optimal Complementary Filters
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/h_infinity_optimal_comp_filters.png][png]], [[./figs/h_infinity_optimal_comp_filters.pdf][pdf]] and [[./figs/h_infinity_optimal_comp_filters.tex][tex]].
|
||||
|
||||
#+begin_src latex :file h_infinity_optimal_comp_filters.pdf :tangle figs/h_infinity_optimal_comp_filters.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[block={5.0cm}{3.0cm}, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputn1) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
|
||||
\coordinate[] (inputn2) at ($(P.south west)!0.5!(P.north west) + (-\cdist, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.2!(P.north west) + (-\cdist, 0)$);
|
||||
|
||||
\coordinate[] (outputx) at ($(P.south east)!0.5!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( \cdist, 0)$);
|
||||
|
||||
\node[block, right=1.5 of inputn1] (W1){$W_1$};
|
||||
\node[block, right=1.5 of inputn2] (W2){$W_2$};
|
||||
\node[addb={+}{}{}{}{-}, right=of W1] (sub) {};
|
||||
\node[addb, right=2 of W2] (add) {};
|
||||
|
||||
\node[block, below=of P] (H1) {$H_1$};
|
||||
|
||||
\draw[->] (inputn1)node[above right]{$n_1$} -- (W1.west);
|
||||
\draw[->] (inputn2)node[above right]{$n_2$} -- (W2.west);
|
||||
\draw[->] (W1) -- (sub.west);
|
||||
\draw[->] (W2) -| (sub.south);
|
||||
\draw[->] (W2-|sub.south) node[branch]{} -- (add.west);
|
||||
\draw[->] (sub.east) -- ++(0.5, 0) |- ($(outputv) + (-0.3, 0)$) |- (H1.east);
|
||||
\draw[->] (H1.west) -| ($(inputu) + (0.3, 0)$) -| (add.south);
|
||||
\draw[->] (add.east) -- (outputx) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:h_infinity_optimal_comp_filters
|
||||
#+caption: H-Infinity - Optimal Complementary Filters ([[./figs/h_infinity_optimal_comp_filters.png][png]], [[./figs/h_infinity_optimal_comp_filters.pdf][pdf]], [[./figs/h_infinity_optimal_comp_filters.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/h_infinity_optimal_comp_filters.png]]
|
||||
* Fusion of two noisy sensors
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/fusion_two_noisy_sensors.png][png]], [[./figs/fusion_two_noisy_sensors.pdf][pdf]] and [[./figs/fusion_two_noisy_sensors.tex][tex]].
|
||||
|
||||
#+begin_src latex :file fusion_two_noisy_sensors.pdf :tangle figs/fusion_two_noisy_sensors.tex
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=1.5 and 1 of x](add1){};
|
||||
\node[addb, below right=1.5 and 1 of x](add2){};
|
||||
\node[block, above=0.5 of add1](W1){$W_1$};
|
||||
\node[block, above=0.5 of add2](W2){$W_2$};
|
||||
\node[block, right=1 of add1](H1){$H_1$};
|
||||
\node[block, right=1 of add2](H2){$H_2$};
|
||||
\node[addb, right=4 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-1, 0)$) node[above right]{$x$} -- (x);
|
||||
\draw[->] (x) |- (add1.west);
|
||||
\draw[->] (x) |- (add2.west);
|
||||
\draw[->] (W1.south) -- (add1.north);
|
||||
\draw[->] (W2.south) -- (add2.north);
|
||||
\draw[<-] (W1.north) -- ++(0, 0.8)node[below right]{$n_1$};
|
||||
\draw[<-] (W2.north) -- ++(0, 0.8)node[below right]{$n_2$};
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors
|
||||
#+caption: Fusion of two noisy sensors ([[./figs/fusion_two_noisy_sensors.png][png]], [[./figs/fusion_two_noisy_sensors.pdf][pdf]], [[./figs/fusion_two_noisy_sensors.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_noisy_sensors.png]]
|
||||
* Fusion of two noisy signals
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/fusion_two_signals.png][png]], [[./figs/fusion_two_signals.pdf][pdf]] and [[./figs/fusion_two_signals.tex][tex]].
|
||||
|
||||
#+begin_src latex :file fusion_two_signals.pdf :tangle figs/fusion_two_signals.tex
|
||||
\begin{tikzpicture}
|
||||
\node[addb] (add) at (0, 0){};
|
||||
\node[block, above left=0.5 and 0.8 of add] (H1) {$H_1$};
|
||||
\node[block, below left=0.5 and 0.8 of add] (H2) {$H_2$};
|
||||
|
||||
\draw[->] ($(H1.west)+(-1.5, 0)$)node[above right]{$x + n_1$} -- (H1.west);
|
||||
\draw[->] ($(H2.west)+(-1.5, 0)$)node[above right]{$x + n_2$} -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_two_signals
|
||||
#+caption: Fusion of two noisy sensors ([[./figs/fusion_two_signals.png][png]], [[./figs/fusion_two_signals.pdf][pdf]], [[./figs/fusion_two_signals.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_signals.png]]
|
||||
|
||||
* Fusion of two noisy sensors with Dynamics
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/fusion_two_noisy_sensors_with_dyn.png][png]], [[./figs/fusion_two_noisy_sensors_with_dyn.pdf][pdf]] and [[./figs/fusion_two_noisy_sensors_with_dyn.tex][tex]].
|
||||
|
||||
#+begin_src latex :file fusion_two_noisy_sensors_with_dyn.pdf :tangle figs/fusion_two_noisy_sensors_with_dyn.tex
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[block, above right=1.5 and 0.5 of x](G1){$G_1$};
|
||||
\node[block, below right=1.5 and 0.5 of x](G2){$G_2$};
|
||||
\node[addb, right=1 of G1](add1){};
|
||||
\node[addb, right=1 of G2](add2){};
|
||||
\node[block, above=0.5 of add1](W1){$W_1$};
|
||||
\node[block, above=0.5 of add2](W2){$W_2$};
|
||||
\node[block, right=1 of add1](H1){$H_1$};
|
||||
\node[block, right=1 of add2](H2){$H_2$};
|
||||
\node[addb, right=6 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-1, 0)$) node[above right]{$x$} -- (x);
|
||||
\draw[->] (x) |- (G1.west);
|
||||
\draw[->] (x) |- (G2.west);
|
||||
\draw[->] (G1.east) -- (add1.west);
|
||||
\draw[->] (G2.east) -- (add2.west);
|
||||
\draw[->] (W1.south) -- (add1.north);
|
||||
\draw[->] (W2.south) -- (add2.north);
|
||||
\draw[<-] (W1.north) -- ++(0, 0.8)node[below right]{$n_1$};
|
||||
\draw[<-] (W2.north) -- ++(0, 0.8)node[below right]{$n_2$};
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors_with_dyn
|
||||
#+caption: Fusion of two noisy sensors_with_dyn ([[./figs/fusion_two_noisy_sensors_with_dyn.png][png]], [[./figs/fusion_two_noisy_sensors_with_dyn.pdf][pdf]], [[./figs/fusion_two_noisy_sensors_with_dyn.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_noisy_sensors_with_dyn.png]]
|
||||
* Fusion of two noisy sensors with Dynamics - Bis
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/fusion_two_noisy_sensors_with_dyn_bis.png][png]], [[./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf][pdf]] and [[./figs/fusion_two_noisy_sensors_with_dyn_bis.tex][tex]].
|
||||
|
||||
#+begin_src latex :file fusion_two_noisy_sensors_with_dyn_bis.pdf :tangle figs/fusion_two_noisy_sensors_with_dyn_bis.tex
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[block, above right=0.5 and 0.5 of x](G1){$G_1$};
|
||||
\node[block, below right=0.5 and 0.5 of x](G2){$G_2$};
|
||||
\node[addb, right=1 of G1](add1){};
|
||||
\node[addb, right=1 of G2](add2){};
|
||||
\node[block, right=1 of add1](H1){$H_1$};
|
||||
\node[block, right=1 of add2](H2){$H_2$};
|
||||
\node[addb, right=6 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-1, 0)$) node[above right]{$x$} -- (x);
|
||||
\draw[->] (x) |- (G1.west);
|
||||
\draw[->] (x) |- (G2.west);
|
||||
\draw[->] (G1.east) -- (add1.west);
|
||||
\draw[->] (G2.east) -- (add2.west);
|
||||
\draw[<-] (add1.north) -- ++(0, 0.8)node[below right]{$n_1$};
|
||||
\draw[<-] (add2.north) -- ++(0, 0.8)node[below right]{$n_2$};
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors_with_dyn_bis
|
||||
#+caption: Fusion of two noisy sensors_with_dyn_bis ([[./figs/fusion_two_noisy_sensors_with_dyn_bis.png][png]], [[./figs/fusion_two_noisy_sensors_with_dyn_bis.pdf][pdf]], [[./figs/fusion_two_noisy_sensors_with_dyn_bis.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_noisy_sensors_with_dyn_bis.png]]
|
||||
|
||||
* Fusion of two sensors with mismatch dynamics
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/fusion_two_signals_with_dyn.png][png]], [[./figs/fusion_two_signals_with_dyn.pdf][pdf]] and [[./figs/fusion_two_signals_with_dyn.tex][tex]].
|
||||
|
||||
#+begin_src latex :file fusion_gain_mismatch.pdf :tangle figs/fusion_gain_mismatch.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=1 and 3.5 of x](add1){};
|
||||
\node[addb, below right=1 and 3.5 of x](add2){};
|
||||
\node[block, above left= of add1](delta1){$\Delta_1$};
|
||||
\node[block, above left= of add2](delta2){$\Delta_2$};
|
||||
\node[block, left= of delta1](W1){$W_1$};
|
||||
\node[block, left= of delta2](W2){$W_2$};
|
||||
\node[block, right= of add1](H1){$H_1$};
|
||||
\node[block, right= of add2](H2){$H_2$};
|
||||
\node[addb, right=5.5 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-1, 0)$) node[above right]{$x$} -- (x);
|
||||
\draw[->] (x) |- (add1.west);
|
||||
\draw[->] (x) |- (add2.west);
|
||||
\draw[->] ($(add1-|W1.west)+(-0.5, 0)$)node[branch]{} |- (W1.west);
|
||||
\draw[->] ($(add2-|W2.west)+(-0.5, 0)$)node[branch]{} |- (W2.west);
|
||||
\draw[->] (W1.east) -- (delta1.west);
|
||||
\draw[->] (W2.east) -- (delta2.west);
|
||||
\draw[->] (delta1.east) -| (add1.north);
|
||||
\draw[->] (delta2.east) -| (add2.north);
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1.east) -| (add.north);
|
||||
\draw[->] (H2.east) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_gain_mismatch
|
||||
#+caption: Fusion of two noisy sensors_with_dyn ([[./figs/fusion_gain_mismatch.png][png]], [[./figs/fusion_gain_mismatch.pdf][pdf]], [[./figs/fusion_gain_mismatch.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_gain_mismatch.png]]
|
||||
|
||||
* Uncertainty to Phase and Gain variation
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/uncertainty_gain_phase_variation.png][png]], [[./figs/uncertainty_gain_phase_variation.pdf][pdf]] and [[./figs/uncertainty_gain_phase_variation.tex][tex]].
|
||||
|
||||
#+begin_src latex :file uncertainty_gain_phase_variation.pdf :tangle figs/uncertainty_gain_phase_variation.tex :exports both
|
||||
\begin{tikzpicture}
|
||||
\draw[->] (-0.5, 0) -- (7, 0) node[below left]{Real};
|
||||
\draw[->] (0, -1) -- (0, 1) node[left]{Im};
|
||||
\node[branch] (1) at (5, 0){};
|
||||
\node[below] at (1){$1$};
|
||||
\node[circle, draw] (c) at (1)[minimum size=2cm]{};
|
||||
\draw[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=2) -- node[midway, right]{$|H_i W_i|$} (1);
|
||||
\draw[dashed] (2, 0) arc (0:23:1) node[midway, right]{$\Delta \phi$};
|
||||
% \draw[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=1) coordinate(cbot);
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:uncertainty_gain_phase_variation
|
||||
#+caption: Uncertainty to Phase and Gain variation ([[./figs/uncertainty_gain_phase_variation.png][png]], [[./figs/uncertainty_gain_phase_variation.pdf][pdf]], [[./figs/uncertainty_gain_phase_variation.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/uncertainty_gain_phase_variation.png]]
|
||||
|
||||
* Generate Complementary Filters using Feedback Control Architecture
|
||||
#+begin_src latex :file complementary_filters_feedback_architecture.pdf :tangle figs/complementary_filters_feedback_architecture.tex :exports both
|
||||
\begin{tikzpicture}
|
||||
\node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
|
||||
\node[block, right=1 of addfb] (L){$L$};
|
||||
\node[addb={+}{}{}{}{}, right=1 of L] (adddy){};
|
||||
|
||||
\draw[<-] (addfb.west) -- ++(-1, 0) node[above right]{$y_1$};
|
||||
\draw[->] (addfb.east) -- (L.west);
|
||||
\draw[->] (L.east) -- (adddy.west);
|
||||
\draw[->] (adddy.east) -- ++(1, 0) node[above left]{$y_s$};
|
||||
\draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -1) -| (addfb.south);
|
||||
\draw[<-] (adddy.north) -- ++(0, 1) node[below right]{$y_2$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:complementary_filters_feedback_architecture
|
||||
#+caption: Generation of Complementary Filters using the feedback architecture ([[./figs/complementary_filters_feedback_architecture.png][png]], [[./figs/complementary_filters_feedback_architecture.pdf][pdf]], [[./figs/complementary_filters_feedback_architecture.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/complementary_filters_feedback_architecture.png]]
|
||||
|
||||
* H-Infinity Synthesis for Robust Sensor Fusion
|
||||
The Tikz figure can be downloaded in the following formats: [[./figs/h_infinity_robust_fusion.png][png]], [[./figs/h_infinity_robust_fusion.pdf][pdf]] and [[./figs/h_infinity_robust_fusion.tex][tex]].
|
||||
|
||||
#+begin_src latex :file h_infinity_robust_fusion.pdf :tangle figs/h_infinity_robust_fusion.tex :exports both
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[block={4.0cm}{3.0cm}, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.4!(P.north west) + (-\cdist, 0)$);
|
||||
|
||||
\coordinate[] (outputh) at ($(P.south east)!0.8!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputl) at ($(P.south east)!0.4!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( \cdist, 0)$);
|
||||
|
||||
\node[block, left=2*\cdist of outputl] (W1){$w_1$};
|
||||
\node[block, left=2*\cdist of outputh] (W2){$w_2$};
|
||||
\node[addb={+}{}{}{}{-}, left=of W2] (sub) {};
|
||||
|
||||
\node[block, below=\cdist of P] (H1) {$H_1$};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
|
||||
\draw[->] (H1.west) -| ($(inputu)+(0.5*\cdist, 0)$) -- (W1.west);
|
||||
\draw[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
\draw[->] (sub.east) -- (W2.west);
|
||||
\draw[->] ($(inputw)+(2*\cdist, 0)$) node[branch]{} |- ($(outputv)+(-0.5*\cdist, 0)$) |- (H1.east);
|
||||
\draw[->] (W2.east) -- (outputh)node[above left]{$z_2$};
|
||||
\draw[->] (W1.east) -- (outputl)node[above left]{$z_1$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:h_infinity_robust_fusion
|
||||
#+caption: H-Infinity Synthesis for Robust Sensor Fusion ([[./figs/h_infinity_robust_fusion.png][png]], [[./figs/h_infinity_robust_fusion.pdf][pdf]], [[./figs/h_infinity_robust_fusion.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/h_infinity_robust_fusion.png]]
|
||||
Reference in New Issue
Block a user