From efc21ba3b8cfe43d558a325e561e3720b7627c37 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 8 Oct 2020 10:53:01 +0200 Subject: [PATCH] Add Tikz Figures --- tikz/config.html | 1196 ++ tikz/config.org | 690 + tikz/config.tex | 556 + tikz/figs/1dof_isolation_piezo.pdf | Bin 0 -> 7922 bytes tikz/figs/1dof_isolation_piezo.png | Bin 0 -> 2879 bytes tikz/figs/1dof_isolation_piezo.svg | 44 + tikz/figs/1dof_isolation_piezo.tex | 16 + tikz/figs/bode_Kfb.pdf | Bin 0 -> 16979 bytes tikz/figs/bode_Kfb.png | Bin 0 -> 25782 bytes tikz/figs/bode_Kfb.svg | 324 + tikz/figs/bode_Kfb.tex | 269 + tikz/figs/bode_plot_loop_gain.pdf | Bin 0 -> 18454 bytes tikz/figs/bode_plot_loop_gain.png | Bin 0 -> 22444 bytes tikz/figs/bode_plot_loop_gain.svg | 325 + tikz/figs/bode_plot_loop_gain.tex | 269 + tikz/figs/bode_plot_loop_gain_robustness.pdf | Bin 0 -> 43406 bytes tikz/figs/bode_plot_loop_gain_robustness.png | Bin 0 -> 37908 bytes tikz/figs/bode_plot_loop_gain_robustness.svg | 501 + 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100644 tikz/config.tex create mode 100644 tikz/figs/1dof_isolation_piezo.pdf create mode 100644 tikz/figs/1dof_isolation_piezo.png create mode 100644 tikz/figs/1dof_isolation_piezo.svg create mode 100644 tikz/figs/1dof_isolation_piezo.tex create mode 100644 tikz/figs/bode_Kfb.pdf create mode 100644 tikz/figs/bode_Kfb.png create mode 100644 tikz/figs/bode_Kfb.svg create mode 100644 tikz/figs/bode_Kfb.tex create mode 100644 tikz/figs/bode_plot_loop_gain.pdf create mode 100644 tikz/figs/bode_plot_loop_gain.png create mode 100644 tikz/figs/bode_plot_loop_gain.svg create mode 100644 tikz/figs/bode_plot_loop_gain.tex create mode 100644 tikz/figs/bode_plot_loop_gain_robustness.pdf create mode 100644 tikz/figs/bode_plot_loop_gain_robustness.png create mode 100644 tikz/figs/bode_plot_loop_gain_robustness.svg create mode 100644 tikz/figs/bode_plot_loop_gain_robustness.tex create mode 100644 tikz/figs/bode_plot_mech_sys.pdf create mode 100644 tikz/figs/bode_plot_mech_sys.png create mode 100644 tikz/figs/bode_plot_mech_sys.svg create mode 100644 tikz/figs/bode_plot_mech_sys.tex create mode 100644 tikz/figs/bode_plot_mech_sys_uncertainty.pdf create mode 100644 tikz/figs/bode_plot_mech_sys_uncertainty.png create mode 100644 tikz/figs/bode_plot_mech_sys_uncertainty.svg create mode 100644 tikz/figs/bode_plot_mech_sys_uncertainty.tex create mode 100644 tikz/figs/comp_filter_three_hinf.pdf create mode 100644 tikz/figs/comp_filter_three_hinf.png create mode 100644 tikz/figs/comp_filter_three_hinf.svg create mode 100644 tikz/figs/hinf_filters_result_tikz.pdf create mode 100644 tikz/figs/hinf_filters_result_tikz.png create mode 100644 tikz/figs/hinf_filters_result_tikz.svg create mode 100644 tikz/figs/hinf_filters_result_tikz.tex create mode 100644 tikz/figs/hinf_filters_result_weights.pdf create mode 100644 tikz/figs/hinf_filters_result_weights.png create mode 100644 tikz/figs/hinf_filters_result_weights.svg create mode 100644 tikz/figs/hinf_filters_result_weights.tex create mode 100644 tikz/figs/input_uncertainty.pdf create mode 100644 tikz/figs/input_uncertainty.png create mode 100644 tikz/figs/input_uncertainty.svg create mode 100644 tikz/figs/input_uncertainty.tex create mode 100644 tikz/figs/mech_sys_alone.pdf create mode 100644 tikz/figs/mech_sys_alone.png create mode 100644 tikz/figs/mech_sys_alone.svg create mode 100644 tikz/figs/mech_sys_alone.tex create mode 100644 tikz/figs/mech_sys_alone_ctrl.pdf create mode 100644 tikz/figs/mech_sys_alone_ctrl.png create mode 100644 tikz/figs/mech_sys_alone_ctrl.svg create mode 100644 tikz/figs/mech_sys_alone_ctrl.tex create mode 100644 tikz/figs/nyquist_robustness.pdf create mode 100644 tikz/figs/nyquist_robustness.png create mode 100644 tikz/figs/nyquist_robustness.svg create mode 100644 tikz/figs/nyquist_robustness.tex create mode 100644 tikz/figs/robust_perf.pdf create mode 100644 tikz/figs/robust_perf.png create mode 100644 tikz/figs/robust_perf.svg create mode 100644 tikz/figs/robust_perf.tex create mode 100644 tikz/figs/robust_perf_tikz.pdf create mode 100644 tikz/figs/robust_perf_tikz.png create mode 100644 tikz/figs/robust_perf_tikz.svg create mode 100644 tikz/figs/sf_arch.pdf create mode 100644 tikz/figs/sf_arch.png create mode 100644 tikz/figs/sf_arch.svg create mode 100644 tikz/figs/sf_arch.tex create mode 100644 tikz/figs/sf_arch_class.pdf create mode 100644 tikz/figs/sf_arch_class.png create mode 100644 tikz/figs/sf_arch_class.svg create mode 100644 tikz/figs/sf_arch_class.tex create mode 100644 tikz/figs/sf_arch_class_bis.pdf create mode 100644 tikz/figs/sf_arch_class_bis.png create mode 100644 tikz/figs/sf_arch_class_bis.svg create mode 100644 tikz/figs/sf_arch_class_bis.tex create mode 100644 tikz/figs/sf_arch_class_prefilter.pdf create mode 100644 tikz/figs/sf_arch_class_prefilter.png create mode 100644 tikz/figs/sf_arch_class_prefilter.svg create mode 100644 tikz/figs/sf_arch_class_prefilter.tex create mode 100644 tikz/figs/sf_arch_eq.pdf create mode 100644 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a/tikz/config.html b/tikz/config.html new file mode 100644 index 0000000..e68f354 --- /dev/null +++ b/tikz/config.html @@ -0,0 +1,1196 @@ + + + + + + + +LaTeX Configuration for Tikz export + + + + + + + + + + + + +
+

LaTeX Configuration for Tikz export

+ + +
+

1 Packages

+
+
+
\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
+}
+
+
+
+
+ +
+

2 Tikz related packages

+
+
+
\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
+
+
+
+
+ +
+

3 Tikz Libraries

+
+
+
\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
+
+
+
+
+ +
+

4 PGF Plot libraries and config

+
+
+
\usepgfplotslibrary{patchplots}
+\usepgfplotslibrary{groupplots}
+
+\pgfplotsset{compat=newest}
+\pgfplotsset{plot coordinates/math parser=false}
+
+
+
+
+ +
+

5 Setup size of figures

+
+
+
\newlength{\fheight}
+\newlength{\fwidth}
+
+\setlength{\fwidth}{85mm}
+\setlength{\fheight}{112mm}
+
+
+
+
+ +
+

6 Setup Arrows style

+
+
+
\tikzset{>=Stealth}
+% Setup default Linewidth
+\tikzset{every path/.style={line width=1pt}}
+
+
+
+
+ +
+

7 Colors

+
+
+
\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}
+
+
+
+
+ +
+

8 Control

+
+
+
+

8.1 Blocks

+
+
+
\tikzset{%
+  block/.style n args={2}{%
+    draw,
+    fill=white,
+    minimum width  = #1,
+    minimum height = #2,
+  },
+  block/.default={1.2cm}{1.0cm}
+}
+
+
+
+
+ +
+

8.2 TODO Branches

+
+
+
\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]
+
+
+
+
+ +
+

8.3 TODO Hand Writen Style

+
+

+Usefull for schematic plots +

+
+
\tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}]
+
+
+
+
+ +
+

8.4 DAC

+
+
+
\tikzset{%
+  DAC/.style={%
+    draw,
+    signal,
+  }
+}
+
+
+
+
+ +
+

8.5 ADC

+
+
+
\tikzset{%
+  ADC/.style={%
+    draw,
+    signal,
+    signal to = west,
+  }
+}
+
+
+
+
+ +
+

8.6 TODO Gain

+
+

+Maybe use isosceles instead of regular polygon? +

+
+
\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
+  },
+}
+
+
+
+
+ +
+

8.7 Add / Substract / Divide / Multiply block

+
+
+
\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={+}{}{}{}{},
+}
+
+
+
+
+
+ +
+

9 Plots

+
+
+
+

9.1 Grid

+
+
+
\pgfplotsset{grid style={black}}
+\pgfplotsset{major grid style={black!30!white}}
+\pgfplotsset{minor grid style={black!10!white}}
+\pgfplotsset{xmajorgrids}
+\pgfplotsset{ymajorgrids}
+
+
+
+
+ +
+

9.2 Lines

+
+
+
\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
+
+
+
+
+ +
+

9.3 Ticks

+
+
+
\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}}
+
+
+
+
+ +
+

9.4 Size

+
+

+If scale only axis=false (the default), pgfplots will try to produce the desired width including labels, titles and ticks. +

+
+
\pgfplotsset{scale only axis=true}
+
+
+
+
+ +
+

9.5 Label

+
+

+Used to align all of ylabel of one figure. +

+
+
\pgfplotsset{ylabel absolute}
+
+
+
+
+ +
+

9.6 Legend

+
+
+
% 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:
+  \csname pgfplots@createlegend\endcsname
+  \endgroup
+}%
+
+% makes \addlegendimage available (typically only available within an
+% axis environment):
+\def\addlegendimage{\csname pgfplots@addlegendimage\endcsname}
+
+% definition to insert numbers
+% \pgfkeys{/pgfplots/number in legend/.style={%
+%     /pgfplots/legend image code/.code={%
+%       \node at (0.125,-0.0225){#1}; % <= changed x value
+%     },%
+%   },
+% }
+\pgfplotsset{
+  every legend to name picture/.style={west}
+}
+
+
+
+
+ +
+

9.7 Upper and Lower bounds

+
+
+
\tikzstyle{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}]
+\tikzstyle{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}]
+
+
+ +

+And we add the corresdonding +

+
+
\pgfplotsset{
+  /pgfplots/upperbound/.style 1 args={
+    legend image code/.code={
+      \draw[##1, upperbound]
+        plot coordinates {
+        (0cm,0cm)
+        (0.6cm,0cm)
+      }
+    }
+  }
+}
+
+
+
+
+ +
+

9.8 Pole

+
+
+
\tikzset{%
+  pole/.style{%
+    color=red,
+    cross out,
+    draw,
+    inner sep=0pt,
+    outer sep=0pt,
+    minimum size=#1pt
+  },
+  pole/.default={4}
+}
+
+
+
+
+ +
+

9.9 Zero

+
+
+
\tikzset{%
+  zero/.style{%
+    color=red,
+    circle,
+    draw,
+    inner sep=0pt,
+    outer sep=0pt,
+    minimum size=#1pt
+  },
+  zero/.default={4}
+}
+
+
+
+
+
+ +
+

10 Mechanical

+
+
+
+

10.1 Spring

+
+
+
\tikzset{%
+  spring/.style={%
+    thick,
+    decoration={
+      zigzag,
+      pre length  = #1cm,
+      post length = #1cm,
+      segment length = 6
+    },
+    decorate
+  },
+  spring/.default={0.2}
+}
+
+
+
+
+ +
+

10.2 Coil

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.3 Damper

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.4 Actuator

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.5 Ground

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.6 Force Sensor

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.7 Inertial Sensor

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.8 Axis Rotator

+
+
+
\newcommand{\AxisRotator}[1][rotate=0]{%
+  \tikz [x=0.1cm,y=0.30cm,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);%
+}
+
+
+
+
+ +
+

10.9 Cross

+
+
+
\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);
+}]
+
+
+
+
+
+ +
+

10.10 Piezoelectric actuator

+
+
+
\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}
+}
+
+
+
+
+ +
+

10.11 Voice coil

+
+
+
\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}
+}
+
+
+
+
+
+ +
+

11 Optics

+
+
+
\tikzset{%
+  ->-/.style={
+    decoration={
+      markings,
+      mark = at position #1 with {\arrow{>}
+      }
+    },
+    postaction={decorate}
+  }
+}
+\tikzset{%
+  -<-/.style={
+    decoration={
+      markings,
+      mark = at position #1 with {\arrow{<}
+      }
+    },
+    postaction={decorate}
+  }
+}
+
+
+
+
+ +
+

12 Misc

+
+
+
\tikzset{%
+  labelc/.style= {%
+    draw,
+    fill=white,
+    shape=circle,
+    inner sep=2pt,
+    outer sep=6pt,
+  }
+}
+
+
+
+
+
+
+

Author: Thomas Dehaeze

+

Created: 2019-07-22 lun. 09:28

+

Validate

+
+ + diff --git a/tikz/config.org b/tikz/config.org new file mode 100644 index 0000000..4502fde --- /dev/null +++ b/tikz/config.org @@ -0,0 +1,690 @@ +#+TITLE: LaTeX Configuration for Tikz export +:drawer: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: + +#+PROPERTY: header-args:latex+ :tangle config.tex +#+PROPERTY: header-args:latex+ :exports code +:end: + +* Packages +#+begin_src latex +\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 +} +#+end_src + +* Tikz related packages +#+begin_src latex + \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 +#+end_src + +* Tikz Libraries +#+begin_src latex + \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 +#+end_src + +* PGF Plot libraries and config +#+begin_src latex + \usepgfplotslibrary{patchplots} + \usepgfplotslibrary{groupplots} + + \pgfplotsset{compat=newest} + \pgfplotsset{plot coordinates/math parser=false} +#+end_src + +* Setup size of figures +#+begin_src latex + \newlength{\fheight} + \newlength{\fwidth} + + \setlength{\fwidth}{85mm} + \setlength{\fheight}{112mm} +#+end_src + +* Setup Arrows style +#+begin_src latex + \tikzset{>=Stealth} + % Setup default Linewidth + \tikzset{every path/.style={line width=1pt}} +#+end_src + +* Colors +#+begin_src latex + \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} +#+end_src + +* Control +** Blocks +#+begin_src latex + \tikzset{% + block/.style n args={2}{% + draw, + fill=white, + minimum width = #1, + minimum height = #2, + }, + block/.default={1.2cm}{1.0cm} + } +#+end_src + +** TODO Branches +#+begin_src latex + \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] +#+end_src + +** TODO Hand Writen Style +Usefull for schematic plots +#+begin_src latex + \tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}] +#+end_src + +** DAC +#+begin_src latex + \tikzset{% + DAC/.style={% + draw, + signal, + } + } +#+end_src + +** ADC +#+begin_src latex + \tikzset{% + ADC/.style={% + draw, + signal, + signal to = west, + } + } +#+end_src + +** TODO Gain +Maybe use =isosceles= instead of regular polygon? +#+begin_src latex + \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 + }, + } +#+end_src + +** Add / Substract / Divide / Multiply block +#+begin_src latex + \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={+}{}{}{}{}, + } +#+end_src + +#+begin_src latex + \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={+}{}{}{}{}, + } +#+end_src + +* Plots +** Grid +#+begin_src latex + \pgfplotsset{grid style={black}} + \pgfplotsset{major grid style={black!30!white}} + \pgfplotsset{minor grid style={black!10!white}} + \pgfplotsset{xmajorgrids} + \pgfplotsset{ymajorgrids} +#+end_src + +** Lines +#+begin_src latex + \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 +#+end_src + +** Ticks +#+begin_src latex + \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}} +#+end_src + +** Size +If =scale only axis=false= (the default), pgfplots will try to produce the desired width including labels, titles and ticks. +#+begin_src latex + \pgfplotsset{scale only axis=true} +#+end_src + +** Label +Used to align all of ylabel of one figure. +#+begin_src latex + \pgfplotsset{ylabel absolute} +#+end_src + +** Legend +#+begin_src latex + % 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: + \csname pgfplots@createlegend\endcsname + \endgroup + }% + + % makes \addlegendimage available (typically only available within an + % axis environment): + \def\addlegendimage{\csname pgfplots@addlegendimage\endcsname} + + % definition to insert numbers + % \pgfkeys{/pgfplots/number in legend/.style={% + % /pgfplots/legend image code/.code={% + % \node at (0.125,-0.0225){#1}; % <= changed x value + % },% + % }, + % } + \pgfplotsset{ + every legend to name picture/.style={west} + } +#+end_src + +** Upper and Lower bounds +#+begin_src latex + \tikzstyle{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}] + \tikzstyle{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}] +#+end_src + +And we add the corresdonding +#+begin_src latex + \pgfplotsset{ + /pgfplots/upperbound/.style 1 args={ + legend image code/.code={ + \draw[##1, upperbound] + plot coordinates { + (0cm,0cm) + (0.6cm,0cm) + } + } + } + } +#+end_src + +** Pole +#+begin_src latex + \tikzset{% + pole/.style{% + color=red, + cross out, + draw, + inner sep=0pt, + outer sep=0pt, + minimum size=#1pt + }, + pole/.default={4} + } +#+end_src + +** Zero +#+begin_src latex + \tikzset{% + zero/.style{% + color=red, + circle, + draw, + inner sep=0pt, + outer sep=0pt, + minimum size=#1pt + }, + zero/.default={4} + } +#+end_src + +* Mechanical +** Spring +#+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 diff --git a/tikz/config.tex b/tikz/config.tex new file mode 100644 index 0000000..0e6781c --- /dev/null +++ b/tikz/config.tex @@ -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: + \csname pgfplots@createlegend\endcsname + \endgroup +}% + +% makes \addlegendimage available (typically only available within an +% axis environment): +\def\addlegendimage{\csname pgfplots@addlegendimage\endcsname} + +% definition to insert numbers +% \pgfkeys{/pgfplots/number in legend/.style={% +% /pgfplots/legend image code/.code={% +% \node at (0.125,-0.0225){#1}; % <= changed x value +% },% +% }, +% } +\pgfplotsset{ + every legend to name picture/.style={west} +} + +\tikzstyle{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}] +\tikzstyle{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}] + +\pgfplotsset{ + /pgfplots/upperbound/.style 1 args={ + legend image code/.code={ + \draw[##1, upperbound] + plot coordinates { + (0cm,0cm) + (0.6cm,0cm) + } + } + } +} + +\tikzset{% + pole/.style{% + color=red, + cross out, + draw, + inner sep=0pt, + outer sep=0pt, + minimum size=#1pt + }, + pole/.default={4} +} + +\tikzset{% + zero/.style{% + color=red, + circle, + draw, + inner sep=0pt, + outer sep=0pt, + minimum size=#1pt + }, + zero/.default={4} +} + +\tikzset{% + spring/.style={% + thick, + decoration={ + zigzag, + pre length = #1cm, + post length = #1cm, + segment length = 6 + }, + decorate + }, + spring/.default={0.2} +} + +\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} +} + +\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} +} + +\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} +} + +\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} +} + +\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} +} + +\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} +} + +\newcommand{\AxisRotator}[1][rotate=0]{% + \tikz [x=0.1cm,y=0.30cm,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);% +} + +\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); +}] + +\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} +} + +\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 ( 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\def\massh{0.8} % Height of the masses + \def\spaceh{1.2} % Height of the springs/dampers + \def\dispw{0.3} % Width of the dashed line for the displacement + \def\disph{0.5} % Height of the arrow for the displacements + \def\bracs{0.05} % Brace spacing vertically + \def\brach{-10pt} % Brace shift horizontaly + % ==================== + + + % ==================== + % Ground + % ==================== + \draw (-0.5*\massw, 0) -- (0.5*\massw, 0); + \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[right]{$w$}; + % ==================== + + \begin{scope}[shift={(0, 0)}] + % Mass + \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$}; + + % Spring, Damper, and Actuator + \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$}; + \draw[damper] (0, 0) -- ( 0, \spaceh) node[midway, left=0.2]{$c$}; + \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) 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diff --git a/tikz/figs/mech_sys_alone_ctrl.tex b/tikz/figs/mech_sys_alone_ctrl.tex new file mode 100644 index 0000000..1090af7 --- /dev/null +++ b/tikz/figs/mech_sys_alone_ctrl.tex @@ -0,0 +1,56 @@ +\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}% +\begin{tikzpicture} + % ==================== + % Parameters + % ==================== + \def\massw{2.2} % Width of the masses + \def\massh{0.8} % Height of the masses + \def\spaceh{1.2} % Height of the springs/dampers + \def\dispw{0.3} % Width of the dashed line for the displacement + \def\disph{0.5} % Height of the arrow for the displacements + \def\bracs{0.05} % Brace spacing vertically + \def\brach{-10pt} % Brace shift horizontaly + % ==================== + + + % ==================== + % Ground + % ==================== + \draw (-0.5*\massw, 0) -- (0.5*\massw, 0); + \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[below right]{$w$}; + % ==================== + + \begin{scope}[shift={(0, 0)}] + % Mass + \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$}; + + % Spring, Damper, and Actuator + \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$}; + \draw[damper] (0, 0) -- ( 0, \spaceh) node[midway, left=0.2]{$c$}; + \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) coordinate[midway, right=0.15](F); + + % Displacements + \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right](x){$x$}; + \end{scope} + + \node[block, right=1 of F] (Kfb) {$K$}; + \node[addb={+}{}{-}{}{}, right=2*\cdist of Kfb] (add) {}; + \node[addb] (addn) at (x-|Kfb) {}; + \node[block, right=of addn] (Hl) {$H_L$}; + + \draw[->] (x) -- (addn.west); + \draw[->] 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+ + + + + + + + + + + + + + + + + + + + diff --git a/tikz/figs/sf_arch.tex b/tikz/figs/sf_arch.tex new file mode 100644 index 0000000..cebe3b2 --- /dev/null +++ b/tikz/figs/sf_arch.tex @@ -0,0 +1,35 @@ +\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}% +\begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, right=of addfb] (K){$k$}; + \node[block, right=1.2 of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \coordinate[] (KG) at ($0.5*(K.east)+0.5*(G.west)$); + \node[block, below=of KG] (Gm){$G$}; + \node[block, below=of Gm] (Hh){$H_H$}; + \node[addb={+}{}{}{}{}, below=of Hh] (addsf){}; + \node[block] (Hl) at (addsf-|G) {$H_L$}; + \node[addb={+}{}{}{}{}, right=1.2 of Hl] (addn) {}; + + + \draw[->] (addfb.east) -- (K.west) node[above left]{}; + \draw[->] (K.east) -- 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+\def\cdist{0.7} + +\definecolor{T}{rgb}{0.230, 0.299, 0.754}% +\definecolor{S}{rgb}{0.706, 0.016, 0.150}% +\begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, right=of addfb] (K){$K$}; + \node[block, right=of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \node[addb={+}{}{}{}{}, below right=and 0.5 of adddy] (addn) {}; + \node[block] (Hh) at (G|-addn) {$H_L$}; + + \draw[->] (addfb.east) -- (K.west) node[above left]{}; + \draw[->] (K.east) -- (G.west) node[above left]{$u$}; + \draw[->] (G.east) -- (adddy.west); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (G-|addn)node[branch]{} -- (addn.north); + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (addn.west) -- (Hh.east); + \draw[->] (Hh.west) -| (addfb.south); + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; 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\begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + scale only axis, + separate axis lines, + every outer x axis line/.append style={black}, + every x tick label/.append style={font=\color{black}}, + every x tick/.append style={black}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + every outer y axis line/.append style={black}, + every y tick label/.append style={font=\color{black}}, + every y tick/.append style={black}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xmajorgrids, + xminorgrids, + ymajorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 0.1 4.7609074288834\\ + 0.457784053837662 4.74112847250108\\ + 0.781435060784454 4.70208061093208\\ + 1.0991097009295 4.64559165613624\\ + 1.42283045721435 4.57144906349989\\ + 1.75891659032773 4.47927616460061\\ + 2.09566239948043 4.37423445322045\\ + 2.45126006203334 4.25274519592358\\ + 2.8408836901833 4.11095719445138\\ + 3.26222200971167 3.95170788088451\\ + 3.71167181947577 3.77948905141281\\ + 4.18428850790158 3.59988757314696\\ + 4.71708469091702 3.40317136463527\\ + 5.31772317785097 3.19223684289429\\ + 5.99484250318941 2.97087790006113\\ + 6.82077673286568 2.72585419958062\\ + 7.76050333513357 2.47949503869403\\ + 8.9114823228402 2.2201435349723\\ + 10.3279473191895 1.95491825546796\\ + 12.0804213467733 1.69160934903556\\ + 14.3932264471941 1.42447068049222\\ + 17.3076553419573 1.17667603248786\\ + 21.1995345753607 0.943491337665097\\ + 26.2070669648385 0.740920673515988\\ + 32.6974974451177 0.569453372601831\\ + 41.1731993116168 0.427919272009563\\ + 51.8459354389291 0.317863515154134\\ + 65.8898955079995 0.230558428152838\\ + 85.2964449974102 0.1611173349527\\ + 114.566872863487 0.105607825522203\\ + 228.74908173557 0.0390036255196556\\ + 272.543253128103 0.0307810979565345\\ + 315.863540826782 0.025500739341156\\ + 359.381366380463 0.0218605610825003\\ + 405.142317111465 0.0191453206052172\\ + 452.538627817017 0.0171066280251345\\ + 505.479682119124 0.0154393411147139\\ + 559.432570616938 0.0141825204910006\\ + 619.144175597784 0.0131421696026314\\ + 685.229159528406 0.012282656024432\\ + 758.367791499719 0.0115737646620205\\ + 847.08682665574 0.0109423524789141\\ + 946.1848194722 0.0104322816237634\\ + 1000 0.0102154679782451\\ + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 20 0.7\\ + 50 0.7\\ + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 50 0.1\\ + 500 0.1\\ + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 500 0.01\\ + 1000 0.01\\ + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 0.02 1e-05\\ + 2 0.1\\ + }; + + \node[draw, fill=white, align=center, anchor=west] (noise) at (20, 0.01){Noise\\Attenuation}; + \draw[->] (noise.north) -- (100, 0.1-|noise.north); + \draw[->] (noise.east) -- (500, 0.01); + + \node[draw, fill=white, align=center, anchor=north east] (bandwidth) at (900, 8) {Bandwidth\\Limitation}; + \draw[->] (bandwidth.west) -- (20, 0.7); + + \node[draw, fill=white, align=center, anchor=south west] (robust) at (0.2, 1) {Robust\\Stability}; + \draw[->] (robust.east) -- (8,2|-robust.east); + + \node[draw, fill=white, align=center, anchor=south west] (dist) at (0.11, 0.1) {Disturbance\\Rejection}; + \draw[->] (dist.south) -- (1, 0.025); + \end{axis} + + % \begin{customlegend}[legend cell align=left, %<= to align cells + % legend entries={ % <= in the following there are the entries + % $S$, + % $T$ + % }, + % legend style={at={(axis.north east)}, outer sep=5pt, font=\footnotesize}] + % \addlegendimage{upperbound, S} + % \addlegendimage{upperbound, T} + % \end{customlegend} + +\end{tikzpicture} diff --git a/tikz/figs/spec_S_T_weights.pdf 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tikz/figs/spec_S_T_weights.tex b/tikz/figs/spec_S_T_weights.tex new file mode 100644 index 0000000..6041dbf --- /dev/null +++ b/tikz/figs/spec_S_T_weights.tex @@ -0,0 +1,165 @@ +\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}% +\setlength\fwidth{7cm} +\setlength\fheight{4cm} + +\begin{tikzpicture} + \begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xminorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 0.1 4.7609074288834\\ + 0.457784053837662 4.74112847250108\\ + 0.781435060784454 4.70208061093208\\ + 1.0991097009295 4.64559165613624\\ + 1.42283045721435 4.57144906349989\\ + 1.75891659032773 4.47927616460061\\ + 2.09566239948043 4.37423445322045\\ + 2.45126006203334 4.25274519592358\\ + 2.8408836901833 4.11095719445138\\ + 3.26222200971167 3.95170788088451\\ + 3.71167181947577 3.77948905141281\\ + 4.18428850790158 3.59988757314696\\ + 4.71708469091702 3.40317136463527\\ + 5.31772317785097 3.19223684289429\\ + 5.99484250318941 2.97087790006113\\ + 6.82077673286568 2.72585419958062\\ + 7.76050333513357 2.47949503869403\\ + 8.9114823228402 2.2201435349723\\ + 10.3279473191895 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[color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 20 0.7\\ + 50 0.7\\ + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 50 0.1\\ + 500 0.1\\ + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 500 0.01\\ + 1000 0.01\\ + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + 0.02 1e-05\\ + 2 0.1\\ + }; + \addplot [color=T, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + 0.1 4.76100991590828\\ + 0.479380849508911 4.74142527327249\\ + 0.818300681586739 4.70271823354146\\ + 1.15096220088503 4.64622189875955\\ + 1.47628147190939 4.57452203442608\\ + 1.80824493487795 4.48620448383121\\ + 2.15443469003188 4.37981637168679\\ + 2.49687842888433 4.26245362773302\\ + 2.86719649749377 4.1246194153153\\ + 3.23228397818138 3.98033166957675\\ + 3.61041859717334 3.82486484671119\\ + 4.03278998219371 3.64713653765075\\ + 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0.0023309089597649\\ + 482.707096560318 0.00208663214807546\\ + 534.229329953835 0.00188718187213126\\ + 591.250841383188 0.00172433492968875\\ + 654.358601888324 0.00159137569438841\\ + 724.202233460732 0.00148282003877247\\ + 801.50069615654 0.00139418971090831\\ + 887.04968896544 0.0013218279786433\\ + 990.82280990038 0.00125794881012626\\ + 1000 0.00125323629492883\\ + }; + \addplot [color=S, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + 0.203380030584698 0.000989777819887578\\ + 0.449420266211914 0.0047942767347441\\ + 5.12518692705333 0.622210572704616\\ + 20.6212180399914 10.0725642635729\\ + }; + \end{axis} + \begin{customlegend}[legend cell align=left, %<= to align cells + legend entries={ % <= in the following there are the entries + ${w_L}^{-1}$, + ${w_H}^{-1}$, + }, + legend style={at={(axis.north east)}, anchor=north east, outer sep=5pt, font=\footnotesize}] + \addlegendimage{dashed, S} + \addlegendimage{dashed, T} + \end{customlegend} +\end{tikzpicture} diff --git a/tikz/index.html b/tikz/index.html new file mode 100644 index 0000000..6d5e985 --- /dev/null +++ b/tikz/index.html @@ -0,0 +1,1111 @@ + + + + + + + +Tikz - Sensor Fusion Paper + + + + + + + + + + + + +

+

Tikz - Sensor Fusion Paper

+ + +

+Configuration file is accessible here. +

+ +
+

1 Change some default

+
+
+
\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}%
+
+
+
+
+ +
+

2 Sensor Fusion with complementary filters

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
+  \node[block, right=of addfb] (K){$k$};
+  \node[block, right=1.2 of K] (G){$G^\prime$};
+  \node[addb={+}{}{}{}{}, right=of G] (adddy){};
+  \coordinate[] (KG) at ($0.5*(K.east)+0.5*(G.west)$);
+  \node[block, below=of KG] (Gm){$G$};
+  \node[block, below=of Gm] (Hh){$H_H$};
+  \node[addb={+}{}{}{}{}, below=of Hh] (addsf){};
+  \node[block] (Hl) at (addsf-|G) {$H_L$};
+  \node[addb={+}{}{}{}{}, right=1.2 of Hl] (addn) {};
+
+
+  \draw[->] (addfb.east) -- (K.west) node[above left]{};
+  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
+  \draw[->] (KG) node[branch]{} -- (Gm.north);
+  \draw[->] (Gm.south) -- (Hh.north);
+  \draw[->] (Hh.south) -- (addsf.north) node[above left]{};
+  \draw[->] (Hl.west) -- (addsf.east);
+  \draw[->] (addsf.west) -| (addfb.south) node[below right]{};
+  \draw[->] (G.east) -- (adddy.west);
+  \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$};
+  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
+  \draw[->] (adddy-|addn) node[branch]{} -- (addn.north);
+  \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$};
+  \draw[->] (addn.west) -- (Hl.east) node[above right]{$y_m$};
+  \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$};
+\end{tikzpicture}
+
+
+ + +
+

sf_arch.png +

+

Figure 1: Sensor Fusion with complementary filters (png, pdf, tex).

+
+
+
+ +
+

3 Equivalent configuration

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
+  \node[addb={+}{}{}{}{-}, right=of addfb] (addK){};
+  \node[block, right=of addK] (K){$k$};
+  \node[block, right=1.8 of K] (G){$G^\prime$};
+  \node[addb={+}{}{}{}{}, right=of G] (adddy){};
+  \node[block, below right=0.5 and -0.2 of K] (Gm){$G$};
+  \node[block, below left =0.5 and -0.2 of K] (Hh){$H_H$};
+  \node[block, below=1.5 of G] (Hl) {$H_L$};
+  \node[addb={+}{}{}{}{}, right=1 of Hl] (addn) {};
+
+  \draw[->] (addfb.east) -- (addK.west);
+  \draw[->] (addK.east) -- (K.west);
+  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
+  \draw[->] (G.east) -- (adddy.west);
+  \draw[->] ($(G.west)+(-0.8, 0)$) node[branch](sffb){} |- (Gm.east);
+  \draw[->] (Gm.west) -- (Hh.east);
+  \draw[->] (Hh.west) -| (addK.south);
+  \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$};
+  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
+  \draw[->] (adddy-|addn) node[branch]{} -- (addn.north);
+  \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$};
+  \draw[->] (addn.west) -- (Hl.east) node[above right]{$y_m$};
+  \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$};
+  \draw[->] (Hl.west) -| (addfb.south) node[below right]{};
+
+  \node[fit={($(addK.west|-Hh.south)+(-0.1, 0)$) (K.north-|sffb)}, inner sep=5pt, draw, dashed, color=gray, label={$K$}] (Kfb) {};
+\end{tikzpicture}
+
+
+ + +
+

sf_arch_eq.png +

+

Figure 2: Equivalent configuration (png, pdf, tex).

+
+
+
+ +
+

4 Equivalent configuration - classical Feedback

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
+  \node[block, right=of addfb] (K){$K$};
+  \node[block, right=of K] (G){$G^\prime$};
+  \node[addb={+}{}{}{}{}, right=of G] (adddy){};
+  \node[addb={+}{}{}{}{}, below right=and 0.5 of adddy] (addn) {};
+  \node[block] (Hh) at (G|-addn) {$H_L$};
+
+  \draw[->] (addfb.east) -- (K.west) node[above left]{};
+  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
+  \draw[->] (G.east) -- (adddy.west);
+  \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$};
+  \draw[->] (G-|addn)node[branch]{} -- (addn.north);
+  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
+  \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$};
+  \draw[->] (addn.west) -- (Hh.east);
+  \draw[->] (Hh.west) -| (addfb.south);
+  \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$};
+\end{tikzpicture}
+
+
+ + +
+

sf_arch_class.png +

+

Figure 3: Equivalent configuration - classical Feedback (png, pdf, tex).

+
+
+
+ +
+

5 Equivalent configuration - classical Feedback with pre-filter

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
+  \node[block, left=of addfb] (Kr){$K_r$};
+  \node[block, right=of addfb] (K){$K$};
+  \node[block, right=of K] (G){$G^\prime$};
+  \node[addb={+}{}{}{}{}, right=of G] (adddy){};
+  \node[addb={+}{}{}{}{}, below right=0.7 and 0.3 of adddy] (addn) {};
+  \node[block, left=of addn] (Hh) {$H_H$};
+
+  \draw[->] (addfb.east) -- (K.west) node[above left]{};
+  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
+  \draw[->] (G.east) -- (adddy.west);
+  \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$};
+  \draw[->] (G-|addn)node[branch]{} -- (addn.north);
+  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
+  \draw[<-] (Kr.west) -- ++(-\cdist, 0) node[above right]{$r$};
+  \draw[->] (Kr.east) -- (addfb.west);
+  \draw[->] (addn.west) -- (Hh.east);
+  \draw[->] (Hh.west) -| (addfb.south);
+  \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$};
+\end{tikzpicture}
+
+
+ + +
+

sf_arch_class_prefilter.png +

+

Figure 4: Equivalent configuration - classical Feedback with pre-filter (png, pdf, tex).

+
+
+
+ +
+

6 Equivalent configuration - bis

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
+  \node[block, left=of addfb] (Kr){${H_H}^{-1}$};
+  \node[block, right=of addfb] (K){$G^{-1} {H_L}^{-1} H_H$};
+  \node[block, right=of K] (G){$G^\prime$};
+  \node[addb={+}{}{}{}{}, right=of G] (adddy){};
+  \node[addb={+}{}{}{}{}, below right=0.7 and 0.3 of adddy] (addn) {};
+
+  \draw[->] (addfb.east) -- (K.west) node[above left]{};
+  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
+  \draw[->] (G.east) -- (adddy.west);
+  \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$};
+  \draw[->] (G-|addn)node[branch]{} -- (addn.north);
+  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
+  \draw[<-] (Kr.west) -- ++(-\cdist, 0) node[above right]{$r$};
+  \draw[->] (Kr.east) -- (addfb.west);
+  \draw[->] (addn.west) -| (addfb.south);
+  \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$};
+\end{tikzpicture}
+
+
+ + +
+

sf_arch_class_bis.png +

+

Figure 5: Equivalent configuration - bis (png, pdf, tex).

+
+
+
+ +
+

7 H-Infinity - Complementary filters - Generalized plant

+
+
+
\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}%
+\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}
+
+
+ + +
+

sf_hinf_filters_plant_b.png +

+

Figure 6: H-Infinity - Complementary filters - Generalized plant (png, pdf, tex).

+
+
+
+ +
+

8 H-Infinity - Complementary filters

+
+
+
\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}%
+\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}
+
+
+ + +
+

sf_hinf_filters_b.png +

+

Figure 7: H-Infinity - Complementary filters (png, pdf, tex).

+
+
+
+ +
+

9 Input Multiplicative Uncertainty

+
+
+
\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}%
+\begin{tikzpicture}
+  % Blocs
+  \node[block] (G) {$G$};
+
+  \node[addb, left=of G] (addi) {};
+  \node[block, above left=0.5 and 0.2 of addi] (deltai) {$\Delta_I$};
+  \node[block, left=of deltai] (wi) {$w_I$};
+
+  % Connections and labels
+  \draw[->] ($(G.west)+(-4, 0)$)coordinate[](start) node[branch]{} |- (wi.west);
+  \draw[->] ($(start)+(-\cdist, 0)$) -- (addi.west);
+  \draw[->] (wi.east) -- (deltai.west);
+  \draw[->] (deltai.east) -| (addi.north);
+  \draw[->] (addi.east) -- (G.west);
+  \draw[->] (G.east) -- ++(0.8, 0);
+
+  \node[fit={(start|-wi.north) (G.south east)}, inner sep=10pt, draw, dashed, color=gray, label={$G_p$}] (Gp) {};
+\end{tikzpicture}
+
+
+ + +
+

input_uncertainty.png +

+

Figure 8: Input Multiplicative Uncertainty (png, pdf, tex).

+
+
+
+ +
+

10 One mass

+
+
+
\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}%
+\begin{tikzpicture}
+  % ====================
+  % Parameters
+  % ====================
+  \def\massw{2.2}  % Width of the masses
+  \def\massh{0.8}  % Height of the masses
+  \def\spaceh{1.2} % Height of the springs/dampers
+  \def\dispw{0.3}  % Width of the dashed line for the displacement
+  \def\disph{0.5}  % Height of the arrow for the displacements
+  \def\bracs{0.05} % Brace spacing vertically
+  \def\brach{-10pt} % Brace shift horizontaly
+  % ====================
+
+
+  % ====================
+  % Ground
+  % ====================
+  \draw (-0.5*\massw, 0) -- (0.5*\massw, 0);
+  \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0);
+  \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[right]{$w$};
+  % ====================
+
+  \begin{scope}[shift={(0, 0)}]
+    % Mass
+    \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$};
+
+    % Spring, Damper, and Actuator
+    \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$};
+    \draw[damper] (0, 0)           -- ( 0, \spaceh)          node[midway, left=0.2]{$c$};
+    \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) node[midway, left=0.1](F){$F$};
+
+    % Displacements
+    \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0);
+    \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right]{$x$};
+
+    % Legend
+    % \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
+    %   (-0.5*\massw, \bracs) -- (-0.5*\massw, \spaceh+\massh-\bracs) %
+    %   node[midway,rotate=90,anchor=south,yshift=10pt]{};
+  \end{scope}
+\end{tikzpicture}
+
+
+ + +
+

mech_sys_alone.png +

+

Figure 9: One mass (png, pdf, tex).

+
+
+
+ +
+

11 One mass - Control

+
+
+
\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}%
+\begin{tikzpicture}
+  % ====================
+  % Parameters
+  % ====================
+  \def\massw{2.2}  % Width of the masses
+  \def\massh{0.8}  % Height of the masses
+  \def\spaceh{1.2} % Height of the springs/dampers
+  \def\dispw{0.3}  % Width of the dashed line for the displacement
+  \def\disph{0.5}  % Height of the arrow for the displacements
+  \def\bracs{0.05} % Brace spacing vertically
+  \def\brach{-10pt} % Brace shift horizontaly
+  % ====================
+
+
+  % ====================
+  % Ground
+  % ====================
+  \draw (-0.5*\massw, 0) -- (0.5*\massw, 0);
+  \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0);
+  \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[below right]{$w$};
+  % ====================
+
+  \begin{scope}[shift={(0, 0)}]
+    % Mass
+    \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$};
+
+    % Spring, Damper, and Actuator
+    \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$};
+    \draw[damper] (0, 0)           -- ( 0, \spaceh)          node[midway, left=0.2]{$c$};
+    \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) coordinate[midway, right=0.15](F);
+
+    % Displacements
+    \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0);
+    \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right](x){$x$};
+  \end{scope}
+
+  \node[block, right=1 of F] (Kfb) {$K$};
+  \node[addb={+}{}{-}{}{}, right=2*\cdist of Kfb] (add) {};
+  \node[addb] (addn) at (x-|Kfb) {};
+  \node[block, right=of addn] (Hl) {$H_L$};
+
+  \draw[->] (x) -- (addn.west);
+  \draw[->] (addn.east) -- (Hl.west);
+  \draw[->] (Hl.east) -| (add.north);
+  \draw[->] (add.west) -- (Kfb.east);
+  \draw[->] (Kfb.west) -- (F) node[above right]{$F$};
+  \draw[<-] (addn.north) -- ++(0,\cdist) node[below right]{$n$};
+  \draw[<-] (add.east) -- ++(\cdist,0) node[above left]{$r$};
+\end{tikzpicture}
+
+
+ + +
+

mech_sys_alone_ctrl.png +

+

Figure 10: One mass - Control (png, pdf, tex).

+
+
+
+ +
+

12 Piezoelectric Actuator

+
+
+
\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}%
+\begin{tikzpicture}
+  \node[piezo={2}{3}{10}] (piezo) at (0, 0){};
+  \node[draw, fill=white, anchor=south, minimum width=3cm, minimum height=1.5cm] (mass) at ($(piezo.north)+(0, 0.5)$) {Mass};
+  \draw[] ($(piezo.south)+(-1.5, -0.5)$) -- ++(3, 0);
+  \draw ($0.8*(piezo.north west)+0.2*(piezo.north east)$) -- ++(0, 0.5);
+  \draw ($0.2*(piezo.north west)+0.8*(piezo.north east)$) -- ++(0, 0.5);
+  \draw ($0.8*(piezo.south west)+0.2*(piezo.south east)$) -- ++(0, -0.5);
+  \draw ($0.2*(piezo.south west)+0.8*(piezo.south east)$) -- ++(0, -0.5);
+\end{tikzpicture}
+
+
+ + +
+

1dof_isolation_piezo.png +

+

Figure 11: Piezoelectric Actuator (png, pdf, tex).

+
+
+
+ +
+

13 Upper bounds

+
+
+
\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}%
+\setlength\fwidth{7cm}
+\setlength\fheight{5cm}
+
+\begin{tikzpicture}
+  \begin{axis}[%
+    name=axis,
+    width=\fwidth,
+    height=\fheight,
+    at={(0, 0)},
+    scale only axis,
+    separate axis lines,
+    every outer x axis line/.append style={black},
+    every x tick label/.append style={font=\color{black}},
+    every x tick/.append style={black},
+    xmode=log,
+    xmin=0.1,
+    xmax=1000,
+    xminorticks=true,
+    xlabel={Frequency [Hz]},
+    every outer y axis line/.append style={black},
+    every y tick label/.append style={font=\color{black}},
+    every y tick/.append style={black},
+    ymode=log,
+    ymin=0.001,
+    ymax=10,
+    yminorticks=true,
+    ylabel={Magnitude},
+    axis background/.style={fill=white},
+    xmajorgrids,
+    xminorgrids,
+    ymajorgrids,
+    yminorgrids
+    ]
+    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
+    table[row sep=crcr]{%
+      0.1 4.7609074288834\\
+      0.457784053837662 4.74112847250108\\
+      0.781435060784454 4.70208061093208\\
+      1.0991097009295 4.64559165613624\\
+      1.42283045721435  4.57144906349989\\
+      1.75891659032773  4.47927616460061\\
+      2.09566239948043  4.37423445322045\\
+      2.45126006203334  4.25274519592358\\
+      2.8408836901833 4.11095719445138\\
+      3.26222200971167  3.95170788088451\\
+      3.71167181947577  3.77948905141281\\
+      4.18428850790158  3.59988757314696\\
+      4.71708469091702  3.40317136463527\\
+      5.31772317785097  3.19223684289429\\
+      5.99484250318941  2.97087790006113\\
+      6.82077673286568  2.72585419958062\\
+      7.76050333513357  2.47949503869403\\
+      8.9114823228402 2.2201435349723\\
+      10.3279473191895  1.95491825546796\\
+      12.0804213467733  1.69160934903556\\
+      14.3932264471941  1.42447068049222\\
+      17.3076553419573  1.17667603248786\\
+      21.1995345753607  0.943491337665097\\
+      26.2070669648385  0.740920673515988\\
+      32.6974974451177  0.569453372601831\\
+      41.1731993116168  0.427919272009563\\
+      51.8459354389291  0.317863515154134\\
+      65.8898955079995  0.230558428152838\\
+      85.2964449974102  0.1611173349527\\
+      114.566872863487  0.105607825522203\\
+      228.74908173557 0.0390036255196556\\
+      272.543253128103  0.0307810979565345\\
+      315.863540826782  0.025500739341156\\
+      359.381366380463  0.0218605610825003\\
+      405.142317111465  0.0191453206052172\\
+      452.538627817017  0.0171066280251345\\
+      505.479682119124  0.0154393411147139\\
+      559.432570616938  0.0141825204910006\\
+      619.144175597784  0.0131421696026314\\
+      685.229159528406  0.012282656024432\\
+      758.367791499719  0.0115737646620205\\
+      847.08682665574 0.0109423524789141\\
+      946.1848194722  0.0104322816237634\\
+      1000  0.0102154679782451\\
+    };
+    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
+    table[row sep=crcr]{%
+      20  0.7\\
+      50  0.7\\
+    };
+    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
+    table[row sep=crcr]{%
+      50  0.1\\
+      500 0.1\\
+    };
+    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
+    table[row sep=crcr]{%
+      500 0.01\\
+      1000  0.01\\
+    };
+    \addplot [color=S, line width=1.5pt, forget plot, upperbound]
+    table[row sep=crcr]{%
+      0.02  1e-05\\
+      2 0.1\\
+    };
+
+    \node[draw, fill=white, align=center, anchor=west] (noise) at (20, 0.01){Noise\\Attenuation};
+    \draw[->] (noise.north) -- (100, 0.1-|noise.north);
+    \draw[->] (noise.east) -- (500, 0.01);
+
+    \node[draw, fill=white, align=center, anchor=north east] (bandwidth) at (900, 8) {Bandwidth\\Limitation};
+    \draw[->] (bandwidth.west) -- (20, 0.7);
+
+    \node[draw, fill=white, align=center, anchor=south west] (robust) at (0.2, 1) {Robust\\Stability};
+    \draw[->] (robust.east) -- (8,2|-robust.east);
+
+    \node[draw, fill=white, align=center, anchor=south west] (dist) at (0.11, 0.1) {Disturbance\\Rejection};
+    \draw[->] (dist.south) -- (1, 0.025);
+  \end{axis}
+
+  % \begin{customlegend}[legend cell align=left, %<= to align cells
+  %   legend entries={ % <= in the following there are the entries
+  %   $S$,
+  %   $T$
+  % },
+  %   legend style={at={(axis.north east)}, outer sep=5pt, font=\footnotesize}]
+  %   \addlegendimage{upperbound, S}
+  %   \addlegendimage{upperbound, T}
+  % \end{customlegend}
+
+\end{tikzpicture}
+
+
+ + +
+

spec_S_T.png +

+

Figure 12: Upper bounds (png, pdf, tex).

+
+
+
+ +
+

14 Bode plot of the mechanical system

+
+ +
+

bode_plot_mech_sys.png +

+

Figure 13: Bode plot of the mechanical system (png, pdf, tex).

+
+
+
+ +
+

15 Bode plot of the mechanical system - Uncertainty

+
+ +
+

bode_plot_mech_sys_uncertainty.png +

+

Figure 14: Bode plot of the mechanical system - Uncertainty (png, pdf, tex).

+
+
+
+ +
+

16 Bode plot of the controller

+
+ +
+

bode_Kfb.png +

+

Figure 15: Bode plot of the controller (png, pdf, tex).

+
+
+
+ +
+

17 Bode plot of the loop gain

+
+ +
+

bode_plot_loop_gain.png +

+

Figure 16: Bode plot of the loop gain (png, pdf, tex).

+
+
+
+ +
+

18 Upper bounds with weights

+
+ +
+

spec_S_T_weights.png +

+

Figure 17: Upper bounds with weights (png, pdf, tex).

+
+
+
+ +
+

19 Upper bounds with Complementary Filters

+
+ +
+

hinf_filters_result_tikz.png +

+

Figure 18: Upper bounds with Complementary Filters (png, pdf, tex).

+
+
+
+ +
+

20 Upper bounds with weights and Complementary Filters

+
+ +
+

hinf_filters_result_weights.png +

+

Figure 19: Upper bounds with weights and Complementary Filters (png, pdf, tex).

+
+
+
+ +
+

21 Robustness - Nyquist

+
+ +
+

nyquist_robustness.png +

+

Figure 20: Robustness - Nyquist (png, pdf, tex).

+
+
+
+ +
+

22 Robustness - Loop Gain

+
+ +
+

bode_plot_loop_gain_robustness.png +

+

Figure 21: Robustness - Loop Gain (png, pdf, tex).

+
+
+
+ +
+

23 Robust performance

+
+ +
+

robust_perf.png +

+

Figure 22: Robust performance (png, pdf, tex).

+
+
+
+
+
+

Author: Thomas Dehaeze

+

Created: 2019-07-22 lun. 11:55

+

Validate

+
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node[above left]{}; + \draw[->] (Hl.west) -- (addsf.east); + \draw[->] (addsf.west) -| (addfb.south) node[below right]{}; + \draw[->] (G.east) -- (adddy.west); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[->] (adddy-|addn) node[branch]{} -- (addn.north); + \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (addn.west) -- (Hl.east) node[above right]{$y_m$}; + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; + \end{tikzpicture} +#+end_src + +#+name: fig:sf_arch +#+caption: Sensor Fusion with complementary filters ([[./figs/sf_arch.png][png]], [[./figs/sf_arch.pdf][pdf]], [[./figs/sf_arch.tex][tex]]). +#+RESULTS: +[[file:figs/sf_arch.png]] + +* Equivalent configuration +#+begin_src latex :file sf_arch_eq.pdf :tangle figs/sf_arch_eq.tex + <> + \begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[addb={+}{}{}{}{-}, right=of addfb] (addK){}; + \node[block, right=of addK] (K){$k$}; + \node[block, right=1.8 of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \node[block, below right=0.5 and -0.2 of K] (Gm){$G$}; + \node[block, below left =0.5 and -0.2 of K] (Hh){$H_H$}; + \node[block, below=1.5 of G] (Hl) {$H_L$}; + \node[addb={+}{}{}{}{}, right=1 of Hl] (addn) {}; + + \draw[->] (addfb.east) -- (addK.west); + \draw[->] (addK.east) -- (K.west); + \draw[->] (K.east) -- (G.west) node[above left]{$u$}; + \draw[->] (G.east) -- (adddy.west); + \draw[->] ($(G.west)+(-0.8, 0)$) node[branch](sffb){} |- (Gm.east); + \draw[->] (Gm.west) -- (Hh.east); + \draw[->] (Hh.west) -| (addK.south); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[->] (adddy-|addn) node[branch]{} -- (addn.north); + \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (addn.west) -- (Hl.east) node[above right]{$y_m$}; + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; + \draw[->] (Hl.west) -| (addfb.south) node[below right]{}; + + \begin{scope}[on background layer] + \node[fit={($(addK.west|-Hh.south)+(-0.1, 0)$) (K.north-|sffb)}, inner sep=5pt, draw, fill=black!20!white, dashed, label={$K$}] (Kfb) {}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+name: fig:sf_arch_eq +#+caption: Equivalent configuration ([[./figs/sf_arch_eq.png][png]], [[./figs/sf_arch_eq.pdf][pdf]], [[./figs/sf_arch_eq.tex][tex]]). +#+RESULTS: +[[file:figs/sf_arch_eq.png]] + +* Equivalent configuration - classical Feedback +#+begin_src latex :file sf_arch_class.pdf :tangle figs/sf_arch_class.tex + <> + \begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, right=of addfb] (K){$K$}; + \node[block, right=of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \node[addb={+}{}{}{}{}, below right=and 0.5 of adddy] (addn) {}; + \node[block] (Hh) at (G|-addn) {$H_L$}; + + \draw[->] (addfb.east) -- (K.west) node[above left]{}; + \draw[->] (K.east) -- (G.west) node[above left]{$u$}; + \draw[->] (G.east) -- (adddy.west); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (G-|addn)node[branch]{} -- (addn.north); + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[<-] (addfb.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (addn.west) -- (Hh.east); + \draw[->] (Hh.west) -| (addfb.south); + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; + \end{tikzpicture} +#+end_src + +#+RESULTS: +#+name: fig:sf_arch_class +#+caption: Equivalent configuration - classical Feedback ([[./figs/sf_arch_class.png][png]], [[./figs/sf_arch_class.pdf][pdf]], [[./figs/sf_arch_class.tex][tex]]). +[[file:figs/sf_arch_class.png]] + +* Equivalent configuration - classical Feedback with pre-filter +#+begin_src latex :file sf_arch_class_prefilter.pdf :tangle figs/sf_arch_class_prefilter.tex + <> + \begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, left=of addfb] (Kr){$K_r$}; + \node[block, right=of addfb] (K){$K$}; + \node[block, right=of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \node[addb={+}{}{}{}{}, below right=0.7 and 0.3 of adddy] (addn) {}; + \node[block, left=of addn] (Hh) {$H_H$}; + + \draw[->] (addfb.east) -- (K.west) node[above left]{}; + \draw[->] (K.east) -- (G.west) node[above left]{$u$}; + \draw[->] (G.east) -- (adddy.west); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (G-|addn)node[branch]{} -- (addn.north); + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[<-] (Kr.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (Kr.east) -- (addfb.west); + \draw[->] (addn.west) -- (Hh.east); + \draw[->] (Hh.west) -| (addfb.south); + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; + \end{tikzpicture} +#+end_src + +#+name: fig:sf_arch_class_prefilter +#+caption: Equivalent configuration - classical Feedback with pre-filter ([[./figs/sf_arch_class_prefilter.png][png]], [[./figs/sf_arch_class_prefilter.pdf][pdf]], [[./figs/sf_arch_class_prefilter.tex][tex]]). +#+RESULTS: +[[file:figs/sf_arch_class_prefilter.png]] + +* Equivalent configuration - bis +#+begin_src latex :file sf_arch_class_bis.pdf :tangle figs/sf_arch_class_bis.tex + <> + \begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, left=of addfb] (Kr){${H_L}^{-1}$}; + \node[block, right=of addfb] (K){$G^{-1} {H_H}^{-1} H_L$}; + \node[block, right=of K] (G){$G^\prime$}; + \node[addb={+}{}{}{}{}, right=of G] (adddy){}; + \node[addb={+}{}{}{}{}, below right=0.7 and 0.3 of adddy] (addn) {}; + + \draw[->] (addfb.east) -- (K.west) node[above left]{}; + \draw[->] (K.east) -- (G.west) node[above left]{$u$}; + \draw[->] (G.east) -- (adddy.west); + \draw[<-] (addn.east) -- ++(\cdist, 0) coordinate[](endpos) node[above left]{$n$}; + \draw[->] (G-|addn)node[branch]{} -- (addn.north); + \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$}; + \draw[<-] (Kr.west) -- ++(-\cdist, 0) node[above right]{$r$}; + \draw[->] (Kr.east) -- (addfb.west); + \draw[->] (addn.west) -| (addfb.south); + \draw[<-] (adddy.north) -- ++(0, \cdist) node[below right]{$d_y$}; + \end{tikzpicture} +#+end_src + +#+name: fig:sf_arch_class_bis +#+caption: Equivalent configuration - bis ([[./figs/sf_arch_class_bis.png][png]], [[./figs/sf_arch_class_bis.pdf][pdf]], [[./figs/sf_arch_class_bis.tex][tex]]). +#+RESULTS: +[[file:figs/sf_arch_class_bis.png]] + +* H-Infinity - Complementary filters - Generalized plant +#+begin_src latex :file sf_hinf_filters_plant_b.pdf :tangle figs/sf_hinf_filters_plant_b.tex + <> + \begin{tikzpicture} + \node[block={4.0cm}{3.0cm}, draw, dashed, fill=black!20!white] (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 + <> + \begin{tikzpicture} + \node[block={4.0cm}{3.0cm}, draw, dashed, fill=black!20!white] (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 - 3 Complementary filters +#+begin_src latex :file comp_filter_three_hinf.pdf :tangle figs/comp_filter_three_hinf.tex + <> + \begin{tikzpicture} + \node[block={5.0cm}{4.0cm}, 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[] (output3) at ($(P.south east)!0.8!(P.north east) + ( \cdist, 0)$); + \coordinate[] (output2) at ($(P.south east)!0.6!(P.north east) + ( \cdist, 0)$); + \coordinate[] (output1) 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 output1] (W1){$w_1$}; + \node[block, left=2*\cdist of output2] (W2){$w_2$}; + \node[block, left=2*\cdist of output3] (W3){$w_3$}; + \node[addb={+}{}{}{}{-}, left=of W3] (sub1) {}; + \node[addb={+}{}{}{}{-}, left=of sub1] (sub2) {}; + + \node[block, below=\cdist of P] (H) {$\begin{bmatrix}H_1 \\ H_2\end{bmatrix}$}; + + \draw[->] (inputw) node[above right]{$w$} -- (sub2.west); + \draw[->] (W1-|sub1)node[branch]{} -- (sub1.south); + \draw[->] (W2-|sub2)node[branch]{} -- (sub2.south); + \draw[->] ($(sub2.west)+(-0.5, 0)$) node[branch]{} |- (outputv) |- (H.east); + \draw[->] ($(H.south west)!0.7!(H.north west)$) -| ($(inputu|-W1)+(0.4, 0)$) -- (W1.west); + \draw[->] ($(H.south west)!0.3!(H.north west)$) -| (inputu|-W2) -- (W2.west); + + \draw[->] (sub2.east) -- (sub1.west); + \draw[->] (sub1.east) -- (W3.west); + \draw[->] (W1.east) -- (output1)node[above left]{$z_1$}; + \draw[->] (W2.east) -- (output2)node[above left]{$z_2$}; + \draw[->] (W3.east) -- (output3)node[above left]{$z_3$}; + \end{tikzpicture} +#+end_src + +#+name: fig:comp_filter_three_hinf +#+caption: H-Infinity - Complementary filters ([[./figs/comp_filter_three_hinf.png][png]], [[./figs/comp_filter_three_hinf.pdf][pdf]], [[./figs/comp_filter_three_hinf.tex][tex]]). +#+RESULTS: +[[file:figs/comp_filter_three_hinf.png]] + +* Input Multiplicative Uncertainty +#+begin_src latex :file input_uncertainty.pdf :tangle figs/input_uncertainty.tex + <> + \begin{tikzpicture} + % Blocs + \node[block] (G) {$G$}; + + \node[addb, left= of G] (addi) {}; + \node[block, above left=0.3 and 0.3 of addi] (deltai) {$\Delta_I$}; + \node[block, left= of deltai] (wi) {$w_I$}; + \node[branch] (branch) at ($(wi.west|-addi)+(-0.4, 0)$) {}; + + % Connections and labels + \draw[->] (branch.center) |- (wi.west); + \draw[->] ($(branch)+(-0.6, 0)$) -- (addi.west); + \draw[->] (wi.east) -- (deltai.west); + \draw[->] (deltai.east) -| (addi.north); + \draw[->] (addi.east) -- (G.west); + \draw[->] (G.east) -- ++(0.6, 0); + + \begin{scope}[on background layer] + \node[fit={(branch|-wi.north) (G.south east)}, inner sep=6pt, draw, dashed, fill=black!20!white] (Gp) {}; + \node[below left] at (Gp.north east) {$G\prime$}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+name: fig:input_uncertainty +#+caption: Input Multiplicative Uncertainty ([[./figs/input_uncertainty.png][png]], [[./figs/input_uncertainty.pdf][pdf]], [[./figs/input_uncertainty.tex][tex]]). +#+RESULTS: +[[file:figs/input_uncertainty.png]] + +* One mass +#+begin_src latex :file mech_sys_alone.pdf :tangle figs/mech_sys_alone.tex + <> + \begin{tikzpicture} + % ==================== + % Parameters + % ==================== + \def\massw{2.2} % Width of the masses + \def\massh{0.8} % Height of the masses + \def\spaceh{1.2} % Height of the springs/dampers + \def\dispw{0.3} % Width of the dashed line for the displacement + \def\disph{0.5} % Height of the arrow for the displacements + \def\bracs{0.05} % Brace spacing vertically + \def\brach{-10pt} % Brace shift horizontaly + % ==================== + + + % ==================== + % Ground + % ==================== + \draw (-0.5*\massw, 0) -- (0.5*\massw, 0); + \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[right]{$w$}; + % ==================== + + \begin{scope}[shift={(0, 0)}] + % Mass + \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$}; + + % Spring, Damper, and Actuator + \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$}; + \draw[damper] (0, 0) -- ( 0, \spaceh) node[midway, left=0.2]{$c$}; + \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) node[midway, left=0.1](F){$F$}; + + % Displacements + \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right]{$x$}; + + % Legend + % \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] % + % (-0.5*\massw, \bracs) -- (-0.5*\massw, \spaceh+\massh-\bracs) % + % node[midway,rotate=90,anchor=south,yshift=10pt]{}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+name: fig:mech_sys_alone +#+caption: One mass ([[./figs/mech_sys_alone.png][png]], [[./figs/mech_sys_alone.pdf][pdf]], [[./figs/mech_sys_alone.tex][tex]]). +#+RESULTS: +[[file:figs/mech_sys_alone.png]] + +* One mass - Control +#+begin_src latex :file mech_sys_alone_ctrl.pdf :tangle figs/mech_sys_alone_ctrl.tex + <> + \begin{tikzpicture} + % ==================== + % Parameters + % ==================== + \def\massw{2.2} % Width of the masses + \def\massh{0.8} % Height of the masses + \def\spaceh{1.2} % Height of the springs/dampers + \def\dispw{0.3} % Width of the dashed line for the displacement + \def\disph{0.5} % Height of the arrow for the displacements + \def\bracs{0.05} % Brace spacing vertically + \def\brach{-10pt} % Brace shift horizontaly + % ==================== + + + % ==================== + % Ground + % ==================== + \draw (-0.5*\massw, 0) -- (0.5*\massw, 0); + \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[below right]{$w$}; + % ==================== + + \begin{scope}[shift={(0, 0)}] + % Mass + \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$}; + + % Spring, Damper, and Actuator + \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$}; + \draw[damper] (0, 0) -- ( 0, \spaceh) node[midway, left=0.2]{$c$}; + \draw[actuator] ( 0.4*\massw, 0) -- ( 0.4*\massw, \spaceh) coordinate[midway, right=0.15](F); + + % Displacements + \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0); + \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right](x){$x$}; + \end{scope} + + \node[block, right=1 of F] (Kfb) {$K$}; + \node[addb={+}{}{-}{}{}, right=2*\cdist of Kfb] (add) {}; + \node[addb] (addn) at (x-|Kfb) {}; + \node[block, right=of addn] (Hl) {$H_L$}; + + \draw[->] (x) -- (addn.west); + \draw[->] (addn.east) -- (Hl.west); + \draw[->] (Hl.east) -| (add.north); + \draw[->] (add.west) -- (Kfb.east); + \draw[->] (Kfb.west) -- (F) node[above right]{$F$}; + \draw[<-] (addn.north) -- ++(0,\cdist) node[below right]{$n$}; + \draw[<-] (add.east) -- ++(\cdist,0) node[above left]{$r$}; + \end{tikzpicture} +#+end_src + +#+name: fig:mech_sys_alone_ctrl +#+caption: One mass - Control ([[./figs/mech_sys_alone_ctrl.png][png]], [[./figs/mech_sys_alone_ctrl.pdf][pdf]], [[./figs/mech_sys_alone_ctrl.tex][tex]]). +#+RESULTS: +[[file:figs/mech_sys_alone_ctrl.png]] + +* Piezoelectric Actuator +#+begin_src latex :file 1dof_isolation_piezo.pdf :tangle figs/1dof_isolation_piezo.tex + <> + \begin{tikzpicture} + \node[piezo={2}{3}{10}] (piezo) at (0, 0){}; + \node[draw, fill=white, anchor=south, minimum width=3cm, minimum height=1.5cm] (mass) at ($(piezo.north)+(0, 0.5)$) {Mass}; + \draw[] ($(piezo.south)+(-1.5, -0.5)$) -- ++(3, 0); + \draw ($0.8*(piezo.north west)+0.2*(piezo.north east)$) -- ++(0, 0.5); + \draw ($0.2*(piezo.north west)+0.8*(piezo.north east)$) -- ++(0, 0.5); + \draw ($0.8*(piezo.south west)+0.2*(piezo.south east)$) -- ++(0, -0.5); + \draw ($0.2*(piezo.south west)+0.8*(piezo.south east)$) -- ++(0, -0.5); + \end{tikzpicture} +#+end_src + +#+name: fig:1dof_isolation_piezo +#+caption: Piezoelectric Actuator ([[./figs/1dof_isolation_piezo.png][png]], [[./figs/1dof_isolation_piezo.pdf][pdf]], [[./figs/1dof_isolation_piezo.tex][tex]]). +#+RESULTS: +[[file:figs/1dof_isolation_piezo.png]] + +* Upper bounds +#+begin_src latex :file spec_S_T.pdf :tangle figs/spec_S_T.tex + <> + \setlength\fwidth{7cm} + \setlength\fheight{5cm} + + \begin{tikzpicture} + \begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + scale only axis, + separate axis lines, + every outer x axis line/.append style={black}, + every x tick label/.append style={font=\color{black}}, + every x tick/.append style={black}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + every outer y axis line/.append style={black}, + every y tick label/.append style={font=\color{black}}, + every y tick/.append style={black}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xmajorgrids, + xminorgrids, + ymajorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + + \node[draw, fill=white, align=center, anchor=west] (noise) at (20, 0.01){Noise\\Attenuation}; + \draw[->] (noise.north) -- (100, 0.1-|noise.north); + \draw[->] (noise.east) -- (500, 0.01); + + \node[draw, fill=white, align=center, anchor=north east] (bandwidth) at (900, 8) {Bandwidth\\Limitation}; + \draw[->] (bandwidth.west) -- (20, 0.7); + + \node[draw, fill=white, align=center, anchor=south west] (robust) at (0.2, 1) {Robust\\Stability}; + \draw[->] (robust.east) -- (8,2|-robust.east); + + \node[draw, fill=white, align=center, anchor=south west] (dist) at (0.11, 0.1) {Disturbance\\Rejection}; + \draw[->] (dist.south) -- (1, 0.025); + \end{axis} + + % \begin{customlegend}[legend cell align=left, %<= to align cells + % legend entries={ % <= in the following there are the entries + % $S$, + % $T$ + % }, + % legend style={at={(axis.north east)}, outer sep=5pt, font=\footnotesize}] + % \addlegendimage{upperbound, S} + % \addlegendimage{upperbound, T} + % \end{customlegend} + + \end{tikzpicture} +#+end_src + +#+name: fig:spec_S_T +#+caption: Upper bounds ([[./figs/spec_S_T.png][png]], [[./figs/spec_S_T.pdf][pdf]], [[./figs/spec_S_T.tex][tex]]). +#+RESULTS: +[[file:figs/spec_S_T.png]] + +* Bode plot of the mechanical system +#+NAME: data:bode_plot_mech_sys_magnitude +#+begin_src latex :exports none + 0.1 0.000100077040681054\\ + 0.272543253128103 0.000100575030023101\\ + 0.43314832233764 0.000101464934759738\\ + 0.587176639073325 0.000102724574034075\\ + 0.737679760252773 0.000104367175122706\\ + 0.882969995549408 0.000106373827767982\\ + 1.02804473209331 0.000108834566992957\\ + 1.1723818032866 0.000111792586344107\\ + 1.30953502048267 0.000115140426960708\\ + 1.44264395121816 0.000118966190620297\\ + 1.57833140565212 0.00012354732835445\\ + 1.70306502925285 0.00012847169721901\\ + 1.82499324481615 0.000134067470279222\\ + 1.95565071586595 0.000141092091396706\\ + 2.08122156998634 0.000149060642425566\\ + 2.19959306803007 0.000157914155457765\\ + 2.32469705998565 0.000169028899516352\\ + 2.43998629725955 0.000181271551082471\\ + 2.56099310025846 0.000196738235618899\\ + 2.68800102153761 0.000216674296189979\\ + 2.82130767593947 0.000242927525096564\\ + 2.96122543798804 0.000278143152215355\\ + 3.10808217386906 0.000325419446839597\\ + 3.35371015200293 0.000419096223177928\\ + 3.42400613797143 0.000439341276461064\\ + 3.47168681892656 0.000447567844417553\\ + 3.52003147279668 0.000449984807083431\\ + 3.54445567397044 0.000448731850351484\\ + 3.59381366380463 0.000441170960941456\\ + 3.64385898376355 0.000427344400826069\\ + 3.72023668141307 0.00039763388652928\\ + 3.824569722467 0.000349750691805404\\ + 4.09838367175726 0.000240611931259811\\ + 4.39180089259609 0.000169131547428242\\ + 4.67379510799246 0.000127877923720101\\ + 4.97389595879007 9.967307801278e-05\\ + 5.32999408084409 7.76763468688566e-05\\ + 5.75121707184161 6.05462047310449e-05\\ + 6.29214610961035 4.62441646969631e-05\\ + 6.9317172761554 3.53667028681261e-05\\ + 7.74263682681128 2.65611239929399e-05\\ + 8.8296999554941 1.9284460658412e-05\\ + 10.2804473209331 1.35628028157818e-05\\ + 12.3906215694792 8.96920494033127e-06\\ + 15.5665435927106 5.5069217658656e-06\\ + 20.9566239948044 2.96718273940607e-06\\ + 31.9524750575921 1.25569563497959e-06\\ + 64.2403365939419 3.07819423434704e-07\\ + 100 1.26808063706741e-07\\ +#+end_src + +#+NAME: data:bode_plot_mech_sys_phase 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53.2999408084406 -179.140800582232\\ + 58.313051135262 -179.215233540711\\ + 63.7976680860626 -179.283132632794\\ + 69.7981390783064 -179.345091670682\\ + 76.3629826128223 -179.40164575426\\ + 84.1249704973636 -179.457058846282\\ + 92.6759330114683 -179.507307463976\\ + 100 -179.543486140468\\ +#+end_src + +#+begin_src latex :file bode_plot_mech_sys.pdf :tangle figs/bode_plot_mech_sys.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{5cm} + + \begin{tikzpicture} + \begin{axis}[% + width=\fwidth, + height=0.45\fheight, + at={(0,0.55\fheight)}, + xmode=log, + xmin=0.1, + xmax=100, + xtick={0.1,1,10,100}, + xticklabels={{}}, + xminorticks=true, + ymode=log, + ymin=2e-07, + ymax=0.001, + yminorticks=true, + ylabel={Magnitude [$\si{\meter/\newton}$]}, + xminorgrids, + yminorgrids + ] + \addplot [color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + + \begin{axis}[% + width=\fwidth, + height=0.45\fheight, + at={(0,0.05\fheight)}, + xmode=log, + xmin=0.1, + xmax=100, + xminorticks=true, + xlabel={Frequency [$\si{\hertz}$]}, + ymin=-180, + ymax=180, + ytick={-180, -90, 0, 90, 180}, + ylabel={Phase [deg]}, + xminorgrids + ] + \addplot [color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + \end{tikzpicture} +#+end_src + +#+name: fig:bode_plot_mech_sys +#+caption: Bode plot of the mechanical system ([[./figs/bode_plot_mech_sys.png][png]], [[./figs/bode_plot_mech_sys.pdf][pdf]], [[./figs/bode_plot_mech_sys.tex][tex]]). +#+RESULTS: +[[file:figs/bode_plot_mech_sys.png]] + +* Bode plot of the mechanical system - Uncertainty +#+begin_src latex :file bode_plot_mech_sys_uncertainty.pdf :tangle figs/bode_plot_mech_sys_uncertainty.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{5cm} + + \begin{tikzpicture} + \begin{axis}[% + width=\fwidth, + height=0.45\fheight, + at={(0,0.55\fheight)}, + xmode=log, + xmin=0.1, + xmax=1000, + 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+[[file:figs/bode_plot_mech_sys_uncertainty.png]] + +* Bode plot of the controller +#+NAME: data:bode_Kfb_magnitude +#+begin_src latex :exports none + 0.1 43470401.5635197\\ + 0.140652724210524 22406118.4606333\\ + 0.225088005209546 8841324.97190729\\ + 0.402350554886929 2759551.18650976\\ + 0.632121847581245 1099567.22973382\\ + 0.864842327573171 571911.118634823\\ + 1.08902296226373 348238.834272102\\ + 1.30953502048267 230413.727914817\\ + 1.5176833902834 162916.926170144\\ + 1.72678090388436 118180.38299581\\ + 1.92879150802078 88053.4489201859\\ + 2.11507282486879 67600.1593337435\\ + 2.29805998875885 52196.4252310799\\ + 2.47396410088682 40551.3529146903\\ + 2.63889081445751 31757.3998192352\\ + 2.81481236050758 24156.5912162984\\ + 2.97490754721444 18564.407716775\\ + 3.20262069365765 12562.3365624369\\ + 3.35371015200293 9903.39866696113\\ + 3.44776405473447 8860.70330148828\\ + 3.51192753045073 8439.59373188045\\ + 3.54445567397044 8315.55083857103\\ + 3.57728509936788 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[color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + + \begin{axis}[% + width=\fwidth, + height=0.4\fheight, + at={(0,0)}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [$\si{\hertz}$]}, + ymin=-180, + ymax=180, + ytick={-180, -90, 0, 90, 180}, + ylabel={Phase [deg]}, + xminorgrids + ] + \addplot [color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + \end{tikzpicture} +#+end_src + +#+name: fig:bode_Kfb +#+caption: Bode plot of the controller ([[./figs/bode_Kfb.png][png]], [[./figs/bode_Kfb.pdf][pdf]], [[./figs/bode_Kfb.tex][tex]]). +#+RESULTS: +[[file:figs/bode_Kfb.png]] + +* Bode plot of the loop gain +#+NAME: data:bode_plot_loop_gain_magnitude +#+begin_src latex :exports none + 0.1 4351.30066559668\\ + 0.14195547660501 2204.82467106182\\ + 0.240093487686065 781.88410115415\\ + 1.0991097009295 38.5863311084398\\ + 1.56024641436637 19.6731219991235\\ + 2.03849339825246 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352.81541153808 -150.688877511189\\ + 362.710025233077 -150.57150370737\\ + 372.882130718292 -150.480909180991\\ + 379.82153061908 -150.436755399541\\ + 386.890073932801 -150.406593243892\\ + 394.090164040346 -150.391310985555\\ + 397.740302405804 -150.389535648406\\ + 401.424249049931 -150.391827114438\\ + 405.142317111462 -150.398305018997\\ + 408.894822629482 -150.409090963391\\ + 416.504424854512 -150.444083317905\\ + 424.255643071768 -150.497817003391\\ + 432.151112778964 -150.571337440438\\ + 444.2706749607 -150.721086698389\\ + 456.730127016882 -150.921572700448\\ + 469.539001068009 -151.176749890355\\ + 482.707096560317 -151.490746493983\\ + 500.840798984813 -152.008364864025\\ + 519.655724382751 -152.64888225052\\ + 539.177464038763 -153.423469450032\\ + 559.432570616944 -154.343745369635\\ + 580.448594276896 -155.421679482729\\ + 607.832312829711 -157.009344358197\\ + 636.507908129576 -158.885996498353\\ + 666.5363268125 -161.074189606786\\ + 697.981390783064 -163.593949108199\\ + 730.909932860277 -166.460804534995\\ + 772.48114514036 -170.37056544538\\ + 816.416760492152 -174.787371383423\\ + 870.843149769058 -180.536564323253\\ + 937.50150151455 -187.757089622514\\ + 1000 -194.454742635627\\ +#+end_src + +#+begin_src latex :file bode_plot_loop_gain.pdf :tangle figs/bode_plot_loop_gain.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{5cm} + + \begin{tikzpicture} + \begin{axis}[% + width=\fwidth, + height=0.55\fheight, + at={(0,0.45\fheight)}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xticklabels={{}}, + xminorticks=true, + ymode=log, + ymin=1e-3, + ymax=1e3, + ytick={1e-3, 1e-2, 1e-1, 1, 1e1, 1e2, 1e3}, + yticklabels={{}, {$10^{-2}$}, {}, {$10^0$}, {}, {$10^2$}, {}}, + yminorticks=true, + ylabel={Magnitude [m/N]}, + xminorgrids, + yminorgrids + ] + \addplot [color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + + \begin{axis}[% + width=\fwidth, + height=0.4\fheight, + at={(0,0)}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [$\si{\hertz}$]}, + ymin=-270, + ymax=0, + ytick={-270, -180, -90, 0}, + ylabel={Phase [deg]}, + xminorgrids + ] + \addplot [color=mycolor1, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + \end{tikzpicture} +#+end_src + +#+name: fig:bode_plot_loop_gain +#+caption: Bode plot of the loop gain ([[./figs/bode_plot_loop_gain.png][png]], [[./figs/bode_plot_loop_gain.pdf][pdf]], [[./figs/bode_plot_loop_gain.tex][tex]]). +#+RESULTS: +[[file:figs/bode_plot_loop_gain.png]] + +* Upper bounds with weights +#+begin_src latex :file spec_S_T_weights.pdf :tangle figs/spec_S_T_weights.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{4cm} + + \begin{tikzpicture} + \begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xminorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + \begin{customlegend}[legend cell align=left, %<= to align cells + legend entries={ % <= in the following there are the entries + ${w_L}^{-1}$, + ${w_H}^{-1}$, + }, + legend style={at={(axis.north east)}, anchor=north east, outer sep=5pt, font=\footnotesize}] + \addlegendimage{dashed, S} + \addlegendimage{dashed, T} + \end{customlegend} + \end{tikzpicture} +#+end_src + +#+name: fig:spec_S_T_weights +#+caption: Upper bounds with weights ([[./figs/spec_S_T_weights.png][png]], [[./figs/spec_S_T_weights.pdf][pdf]], [[./figs/spec_S_T_weights.tex][tex]]). +#+RESULTS: +[[file:figs/spec_S_T_weights.png]] + +* Upper bounds with Complementary Filters +#+begin_src latex :file hinf_filters_result_tikz.pdf :tangle figs/hinf_filters_result_tikz.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{4cm} + + \begin{tikzpicture} + \begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + scale only axis, + separate axis lines, + every outer x axis line/.append style={black}, + every x tick label/.append style={font=\color{black}}, + every x tick/.append style={black}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + every outer y axis line/.append style={black}, + every y tick label/.append style={font=\color{black}}, + every y tick/.append style={black}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xmajorgrids, + xminorgrids, + ymajorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + \end{tikzpicture} +#+end_src + +#+name: fig:hinf_filters_result_tikz +#+caption: Upper bounds with Complementary Filters ([[./figs/hinf_filters_result_tikz.png][png]], [[./figs/hinf_filters_result_tikz.pdf][pdf]], [[./figs/hinf_filters_result_tikz.tex][tex]]). +#+RESULTS: +[[file:figs/hinf_filters_result_tikz.png]] + +* Upper bounds with weights and Complementary Filters +#+begin_src latex :file hinf_filters_result_weights.pdf :tangle figs/hinf_filters_result_weights.tex :exports results + <> + \setlength\fwidth{7cm} + \setlength\fheight{4cm} + + \begin{tikzpicture} + \begin{axis}[% + name=axis, + width=\fwidth, + height=\fheight, + at={(0, 0)}, + scale only axis, + separate axis lines, + every outer x axis line/.append style={black}, + every x tick label/.append style={font=\color{black}}, + every x tick/.append style={black}, + xmode=log, + xmin=0.1, + xmax=1000, + xminorticks=true, + xlabel={Frequency [Hz]}, + every outer y axis line/.append style={black}, + every y tick label/.append style={font=\color{black}}, + every y tick/.append style={black}, + ymode=log, + ymin=0.001, + ymax=10, + yminorticks=true, + ylabel={Magnitude}, + axis background/.style={fill=white}, + xmajorgrids, + xminorgrids, + ymajorgrids, + yminorgrids + ] + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot, upperbound] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \addplot [color=T, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \addplot [color=S, dashed, line width=1.5pt, forget plot] + table[row sep=crcr]{% + <> + }; + \end{axis} + + \begin{customlegend}[legend cell align=left, %<= to align cells + legend entries={ % <= in the following there are the entries + ${w_L}^{-1}$, + ${w_H}^{-1}$, + $H_L$, + $H_H$ + }, + legend style={at={(axis.north east)}, anchor=north east, outer sep=5pt, font=\footnotesize}] + \addlegendimage{dashed, S} + \addlegendimage{dashed, T} + \addlegendimage{S} + \addlegendimage{T} + \end{customlegend} + + \end{tikzpicture} +#+end_src + +#+name: fig:hinf_filters_result_weights +#+caption: Upper bounds with weights and Complementary Filters ([[./figs/hinf_filters_result_weights.png][png]], [[./figs/hinf_filters_result_weights.pdf][pdf]], [[./figs/hinf_filters_result_weights.tex][tex]]). +#+RESULTS: +[[file:figs/hinf_filters_result_weights.png]] + +* Robustness - Nyquist +#+begin_src latex :file nyquist_robustness.pdf :tangle figs/nyquist_robustness.tex :exports results + <> + \setlength\fwidth{4cm} + \setlength\fheight{4cm} + + \begin{tikzpicture} + \begin{axis}[% + width=\fwidth, + height=\fheight, + at={(0,0)}, + xmin=-1.4, + xmax=0.2, + xtick={-1.4, -1.2, -1, -0.8, -0.6, -0.4, -0.2, 0, 0.2}, + xticklabels={{}, {-1.2}, {}, {-0.8}, {}, {-0.4}, {},{0}, {}}, + xlabel={Real Part}, + ymin=-1.4, + ymax=0.2, + ytick={-1.4, -1.2, -1, -0.8, -0.6, -0.4, -0.2, 0, 0.2}, + yticklabels={{}, {-1.2}, {}, {-0.8}, {}, {-0.4}, {},{0}, {}}, + ylabel={Imaginary Part} + ] +\addplot [color=black, opacity=0.1, line width=1.5pt, forget plot] + table[row sep=crcr]{% +-1.36797893526011 -1.50001862303624\\ +-1.16498995424946 -1.35696621231185\\ +-0.99559961025809 -1.22636638984475\\ +-0.853981047113767 -1.10705800080225\\ +-0.735287602107294 -0.998016431478695\\ +-0.635489695862679 -0.898340115021801\\ +-0.551240783141879 -0.807238670583468\\ +-0.479767470373703 -0.724021826265133\\ +-0.418779528703161 -0.648088368331652\\ 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([[./figs/robust_perf.png][png]], [[./figs/robust_perf.pdf][pdf]], [[./figs/robust_perf.tex][tex]]). +#+RESULTS: +[[file:figs/robust_perf.png]]