diff --git a/tikz/figs/h_infinity_robust_fusion.pdf b/tikz/figs/h_infinity_robust_fusion.pdf index d1403fc..5cc85f8 100644 Binary files a/tikz/figs/h_infinity_robust_fusion.pdf and b/tikz/figs/h_infinity_robust_fusion.pdf differ diff --git a/tikz/figs/h_infinity_robust_fusion.png b/tikz/figs/h_infinity_robust_fusion.png index e1c0c71..c020000 100644 Binary files a/tikz/figs/h_infinity_robust_fusion.png and b/tikz/figs/h_infinity_robust_fusion.png differ diff --git a/tikz/figs/h_infinity_robust_fusion.svg b/tikz/figs/h_infinity_robust_fusion.svg index 9022a63..b72aa3a 100644 --- a/tikz/figs/h_infinity_robust_fusion.svg +++ b/tikz/figs/h_infinity_robust_fusion.svg @@ -1,152 +1,170 @@ - + - + - + - + - + - + - + - + - - - - + - + - + + + + + + + + + + + + + + + + - + - + - + - + - + - + - - - - - + - - - - - + - + - + - + - + - + + + + + + + + + + + + + + + - + - + - + - + - + - + - - + + - + - - - - - - - + + + + + + + - + - + - + - - + + - + - + - + - - + + - + - + - + diff --git a/tikz/figs/h_two_optimal_fusion.pdf b/tikz/figs/h_two_optimal_fusion.pdf index 31e1282..9523723 100644 Binary files a/tikz/figs/h_two_optimal_fusion.pdf and b/tikz/figs/h_two_optimal_fusion.pdf differ diff --git a/tikz/figs/h_two_optimal_fusion.png b/tikz/figs/h_two_optimal_fusion.png index d92d16b..996b23d 100644 Binary files a/tikz/figs/h_two_optimal_fusion.png and b/tikz/figs/h_two_optimal_fusion.png differ diff --git a/tikz/figs/h_two_optimal_fusion.svg b/tikz/figs/h_two_optimal_fusion.svg index e0ff01e..23a7a6c 100644 --- a/tikz/figs/h_two_optimal_fusion.svg +++ b/tikz/figs/h_two_optimal_fusion.svg @@ -1,152 +1,170 @@ - + - + - + - + - + - + - + - + - - - - + - + - + + + + + + + + + + + + + + + + - + - + - + - + - + - + - - - - - + - - - - - + - + - + - + - + - + + + + + + + + + + + + + + + - + - + - + - + - + - + - - + + - + - - - - - - - + + + + + + + - + - + - + - - + + - + - + - + - - + + - + - + - + diff --git a/tikz/figs/mixed_h2_hinf_synthesis.pdf b/tikz/figs/mixed_h2_hinf_synthesis.pdf index b16364c..74d0fa5 100644 Binary files a/tikz/figs/mixed_h2_hinf_synthesis.pdf and b/tikz/figs/mixed_h2_hinf_synthesis.pdf differ diff --git a/tikz/figs/mixed_h2_hinf_synthesis.png b/tikz/figs/mixed_h2_hinf_synthesis.png index 4688762..150a136 100644 Binary files a/tikz/figs/mixed_h2_hinf_synthesis.png and b/tikz/figs/mixed_h2_hinf_synthesis.png differ diff --git a/tikz/figs/mixed_h2_hinf_synthesis.svg b/tikz/figs/mixed_h2_hinf_synthesis.svg index 06485f7..6016051 100644 --- a/tikz/figs/mixed_h2_hinf_synthesis.svg +++ b/tikz/figs/mixed_h2_hinf_synthesis.svg @@ -1,235 +1,256 @@ - + - + - + - + - + - + - + - + - + - - - - - - - - - - + - + - + - + - + + + + + + + + + + - + + + + + + + - + - + - + - + - - - - - + - - - - - + - - - - - + - - - - - + - - - - - + - + - + - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - + - + - + - + - - + + - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + - + - + - + - - - - - + + + + + - + - + - - + + - + - + - - + + - + - + - - + + - + - + - + - + - + - + - + - + - + - + diff --git a/tikz/figs/sensor_fusion_arch_full.pdf b/tikz/figs/sensor_fusion_arch_full.pdf index a4a0aa7..b2ab492 100644 Binary files a/tikz/figs/sensor_fusion_arch_full.pdf and b/tikz/figs/sensor_fusion_arch_full.pdf differ diff --git a/tikz/figs/sensor_fusion_arch_full.png b/tikz/figs/sensor_fusion_arch_full.png index d13f803..0ef4dad 100644 Binary files a/tikz/figs/sensor_fusion_arch_full.png and b/tikz/figs/sensor_fusion_arch_full.png differ diff --git a/tikz/figs/sensor_fusion_arch_full.svg b/tikz/figs/sensor_fusion_arch_full.svg index c4004d3..b40a5d1 100644 --- a/tikz/figs/sensor_fusion_arch_full.svg +++ b/tikz/figs/sensor_fusion_arch_full.svg @@ -63,7 +63,7 @@ - + @@ -173,17 +173,17 @@ - + - + - + - + diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.pdf b/tikz/figs/sensor_fusion_arch_uncertainty.pdf index 840456c..f70cf6d 100644 Binary files a/tikz/figs/sensor_fusion_arch_uncertainty.pdf and b/tikz/figs/sensor_fusion_arch_uncertainty.pdf differ diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.png b/tikz/figs/sensor_fusion_arch_uncertainty.png index 395aca7..e0b394e 100644 Binary files a/tikz/figs/sensor_fusion_arch_uncertainty.png and b/tikz/figs/sensor_fusion_arch_uncertainty.png differ diff --git a/tikz/figs/sensor_fusion_arch_uncertainty.svg b/tikz/figs/sensor_fusion_arch_uncertainty.svg index 22a3504..40f3468 100644 --- a/tikz/figs/sensor_fusion_arch_uncertainty.svg +++ b/tikz/figs/sensor_fusion_arch_uncertainty.svg @@ -45,7 +45,7 @@ - + @@ -139,17 +139,17 @@ - + - + - + - + diff --git a/tikz/figs/uncertainty_set_super_sensor.pdf b/tikz/figs/uncertainty_set_super_sensor.pdf index 064bf63..442e7d1 100644 Binary files a/tikz/figs/uncertainty_set_super_sensor.pdf and b/tikz/figs/uncertainty_set_super_sensor.pdf differ diff --git a/tikz/figs/uncertainty_set_super_sensor.png b/tikz/figs/uncertainty_set_super_sensor.png index d3f0e39..dd3dfc7 100644 Binary files a/tikz/figs/uncertainty_set_super_sensor.png and b/tikz/figs/uncertainty_set_super_sensor.png differ diff --git a/tikz/figs/uncertainty_set_super_sensor.svg b/tikz/figs/uncertainty_set_super_sensor.svg index fc19ed3..71b6b89 100644 --- a/tikz/figs/uncertainty_set_super_sensor.svg +++ b/tikz/figs/uncertainty_set_super_sensor.svg @@ -36,7 +36,7 @@ - + @@ -80,53 +80,53 @@ - + - + - + - + - + - + - + - + - + - + - + - + - - + + - + - + @@ -138,7 +138,7 @@ - + @@ -150,16 +150,16 @@ - + - + - + - + diff --git a/tikz/index.org b/tikz/index.org index 2934ae2..d92d993 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -81,14 +81,14 @@ Configuration file is accessible [[file:config.org][here]]. #+begin_src latex :file h_two_optimal_fusion.pdf \begin{tikzpicture} \node[block={3.5cm}{2.5cm}, fill=black!20!white, dashed] (P) {}; - \node[above] at (P.north) {$P$}; + \node[above] at (P.north) {$P_{\mathcal{H}_2}$}; - \coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$); - \coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputu) at ($(P.south west)!0.5!(P.north west) + (-0.7, 0)$); - \coordinate[] (output1) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$); - \coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$); - \coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$); + \coordinate[] (output1) at ($(P.south east)!0.8!(P.north east) + ( 0.7, 0)$); + \coordinate[] (output2) at ($(P.south east)!0.5!(P.north east) + ( 0.7, 0)$); + \coordinate[] (outputv) at ($(P.south east)!0.2!(P.north east) + ( 0.7, 0)$); \node[block, left=0.9 of output1] (N1){$N_1$}; \node[block, left=0.9 of output2] (N2){$N_2$}; @@ -117,8 +117,8 @@ Configuration file is accessible [[file:config.org][here]]. \node[branch] (x) at (0, 0); \node[branch, above right=0.8 and 0.2 of x](b1){}; \node[branch, below right=0.8 and 0.2 of x](b2){}; - \node[block, above right=0.3 and 0.3 of b1](W1){$w_1$}; - \node[block, above right=0.3 and 0.3 of b2](W2){$w_2$}; + \node[block, above right=0.3 and 0.3 of b1](W1){$W_1$}; + \node[block, above right=0.3 and 0.3 of b2](W2){$W_2$}; \node[block, right=0.3 of W1](delta1){$\Delta_1$}; \node[block, right=0.3 of W2](delta2){$\Delta_2$}; \node[addb, right=0.3 of b1-|delta1](add1){}; @@ -183,14 +183,14 @@ Configuration file is accessible [[file:config.org][here]]. \draw[<->, dashed] (0, 0) node[branch]{} -- coordinate[midway](r1) ++(45:1.0); \draw[<->, dashed] (135:1.0)node[branch]{} -- coordinate[midway](r2) ++(90:0.8); - \node[] (l1) at (2, 1.5) {$|w_1 H_1|$}; + \node[] (l1) at (2, 1.5) {$|W_1 H_1|$}; \draw[->, dashed, out=-90, in=0] (l1.south) to (r1); - \node[] (l2) at (-2.5, 1.5) {$|w_2 H_2|$}; + \node[] (l2) at (-2.5, 1.5) {$|W_2 H_2|$}; \draw[->, dashed, out=0, in=-180] (l2.east) to (r2); \draw[<->, dashed] (0, 0) -- coordinate[near end](r3) ++(200:1.8); - \node[] (l3) at (-2.5, -1.5) {$|w_1 H_1| + |w_2 H_2|$}; + \node[] (l3) at (-2.5, -1.5) {$|W_1 H_1| + |W_2 H_2|$}; \draw[->, dashed, out=90, in=-90] (l3.north) to (r3); \end{scope} @@ -212,14 +212,14 @@ Configuration file is accessible [[file:config.org][here]]. #+begin_src latex :file h_infinity_robust_fusion.pdf \begin{tikzpicture} \node[block={3.5cm}{2.5cm}, fill=black!20!white, dashed] (P) {}; - \node[above] at (P.north) {$P$}; + \node[above] at (P.north) {$P_{\mathcal{H}_\infty}$}; - \coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$); - \coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputu) at ($(P.south west)!0.5!(P.north west) + (-0.7, 0)$); - \coordinate[] (output1) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$); - \coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$); - \coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$); + \coordinate[] (output1) at ($(P.south east)!0.8!(P.north east) + ( 0.7, 0)$); + \coordinate[] (output2) at ($(P.south east)!0.5!(P.north east) + ( 0.7, 0)$); + \coordinate[] (outputv) at ($(P.south east)!0.2!(P.north east) + ( 0.7, 0)$); \node[block, left=0.9 of output1] (W1){$W_1$}; \node[block, left=0.9 of output2] (W2){$W_2$}; @@ -252,8 +252,8 @@ Configuration file is accessible [[file:config.org][here]]. \node[addb, right=2.6 of addn2](add2){}; \node[block, above left=0.2 and 0 of add1](delta1){$\Delta_1$}; \node[block, above left=0.2 and 0 of add2](delta2){$\Delta_2$}; - \node[block, left=0.4 of delta1](W1){$w_1$}; - \node[block, left=0.4 of delta2](W2){$w_2$}; + \node[block, left=0.4 of delta1](W1){$W_1$}; + \node[block, left=0.4 of delta2](W2){$W_2$}; \node[block, above=0.5 of addn1](N1) {$N_1$}; \node[block, above=0.5 of addn2](N2) {$N_2$}; \node[block, right=0.7 of add1](H1){$H_1$}; @@ -303,7 +303,7 @@ Configuration file is accessible [[file:config.org][here]]. #+begin_src latex :file mixed_h2_hinf_synthesis.pdf \begin{tikzpicture} \node[block={4.0cm}{4.0cm}, fill=black!20!white, dashed] (P) {}; - \node[above] at (P.north) {$P$}; + \node[above] at (P.north) {$P_{\mathcal{H}_2/\mathcal{H}_\infty}$}; \coordinate[] (inputw) at ($(P.south west)!0.85!(P.north west) + (-0.7, 0)$); \coordinate[] (inputu) at ($(P.south west)!0.25!(P.north west) + (-0.7, 0)$);