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<head>
<!-- 2021-09-01 mer. 10:15 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>A new method of designing complementary filters for sensor fusion using the $\mathcal{H}_\infty$ synthesis - Tikz Figures</title>
<title>Designing complementary filters for sensor fusion using $\mathcal{H}_\infty$ synthesis - Tikz Figures</title>
<meta name="author" content="Thomas Dehaeze" />
<meta name="generator" content="Org Mode" />
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
@@ -34,30 +34,30 @@
|
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content" class="content">
<h1 class="title">A new method of designing complementary filters for sensor fusion using the \(\mathcal{H}_\infty\) synthesis - Tikz Figures</h1>
<h1 class="title">Designing complementary filters for sensor fusion using \(\mathcal{H}_\infty\) synthesis - Tikz Figures</h1>
<div id="table-of-contents" role="doc-toc">
<h2>Table of Contents</h2>
<div id="text-table-of-contents" role="doc-toc">
<ul>
<li><a href="#orgaddbc4b">1. Sensor Fusion - Overview</a></li>
<li><a href="#orgcde34ed">2. Sensor Model</a></li>
<li><a href="#org881c7cf">3. Sensor Model with calibration</a></li>
<li><a href="#org52dba0e">4. Sensor Fusion Architecture</a></li>
<li><a href="#org51c6b92">5. Sensor Model with Uncertainty</a></li>
<li><a href="#orgd0c3320">6. Sensor Model with Uncertainty - Simplified</a></li>
<li><a href="#orgd991dd2">7. Sensor fusion architecture with sensor dynamics uncertainty</a></li>
<li><a href="#orgb45d1ac">8. Uncertainty set of the super sensor dynamics</a></li>
<li><a href="#orgd194580">9. Generalized plant used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
<li><a href="#orgebe7ec5">10. Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
<li><a href="#orgf9a2f39">11. LIGO Sensor Fusion Architecture</a></li>
<li><a href="#orga2611bb">12. Closed-Loop Complementary Filters</a></li>
<li><a href="#org5af72e4">13. Closed-Loop Fusion Architecture</a></li>
<li><a href="#org4e79ee7">14. Feedback Loop Sensor Fusion Architecture</a></li>
<li><a href="#orgb59c88b">15. Feedback Sensor Fusion - Generalized Plant</a></li>
<li><a href="#orge593f6d">16. Sensor Fusion - Sequential</a></li>
<li><a href="#org3b323e8">17. Sensor Fusion - Parallel</a></li>
<li><a href="#org9baa5b5">18. Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
<li><a href="#org10ffb09">19. Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
<li><a href="#org50515cc">1. Sensor Fusion - Overview</a></li>
<li><a href="#orgd0f42e8">2. Sensor Model</a></li>
<li><a href="#orgfe2b210">3. Sensor Model with calibration</a></li>
<li><a href="#org7a71f40">4. Sensor Fusion Architecture</a></li>
<li><a href="#org02ee7f2">5. Sensor Model with Uncertainty</a></li>
<li><a href="#org15f5c37">6. Sensor Model with Uncertainty - Simplified</a></li>
<li><a href="#org6703507">7. Sensor fusion architecture with sensor dynamics uncertainty</a></li>
<li><a href="#org730783f">8. Uncertainty set of the super sensor dynamics</a></li>
<li><a href="#org38b031f">9. Generalized plant used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
<li><a href="#orgc8963ca">10. Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
<li><a href="#orgc9e8b5c">11. LIGO Sensor Fusion Architecture</a></li>
<li><a href="#org852a702">12. Closed-Loop Complementary Filters</a></li>
<li><a href="#org21e2e13">13. Closed-Loop Fusion Architecture</a></li>
<li><a href="#org784c1ac">14. Feedback Loop Sensor Fusion Architecture</a></li>
<li><a href="#org08b29ce">15. Feedback Sensor Fusion - Generalized Plant</a></li>
<li><a href="#org9bf391e">16. Sensor Fusion - Sequential</a></li>
<li><a href="#orgc2ef6aa">17. Sensor Fusion - Parallel</a></li>
<li><a href="#org90ea882">18. Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
<li><a href="#orge8d8968">19. Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
</ul>
</div>
</div>
@@ -65,8 +65,8 @@
Configuration file is accessible <a href="config.html">here</a>.
</p>
<div id="outline-container-orgaddbc4b" class="outline-2">
<h2 id="orgaddbc4b"><span class="section-number-2">1.</span> Sensor Fusion - Overview</h2>
<div id="outline-container-org50515cc" class="outline-2">
<h2 id="org50515cc"><span class="section-number-2">1.</span> Sensor Fusion - Overview</h2>
<div class="outline-text-2" id="text-1">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate">\definecolor</span>{myblue}{rgb}{0, 0.447, 0.741}
@@ -106,7 +106,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="orgfdc79fa" class="figure">
<div id="org3c4bfaf" class="figure">
<p><img src="figs/sensor_fusion_overview.png" alt="sensor_fusion_overview.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Schematic of a sensor fusion architecture using complementary filters</p>
@@ -114,8 +114,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgcde34ed" class="outline-2">
<h2 id="orgcde34ed"><span class="section-number-2">2.</span> Sensor Model</h2>
<div id="outline-container-orgd0f42e8" class="outline-2">
<h2 id="orgd0f42e8"><span class="section-number-2">2.</span> Sensor Model</h2>
<div class="outline-text-2" id="text-2">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -136,7 +136,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="orga6c4cb8" class="figure">
<div id="org9ced2bb" class="figure">
<p><img src="figs/sensor_model.png" alt="sensor_model.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Basic sensor model consisting of a noise input \(n_i\) and a linear time invariant transfer function \(G_i(s)\)</p>
@@ -144,8 +144,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org881c7cf" class="outline-2">
<h2 id="org881c7cf"><span class="section-number-2">3.</span> Sensor Model with calibration</h2>
<div id="outline-container-orgfe2b210" class="outline-2">
<h2 id="orgfe2b210"><span class="section-number-2">3.</span> Sensor Model with calibration</h2>
<div class="outline-text-2" id="text-3">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -171,7 +171,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="orgd38eff7" class="figure">
<div id="org2edc54e" class="figure">
<p><img src="figs/sensor_model_calibrated.png" alt="sensor_model_calibrated.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Normalized sensors using the inverse of an estimate \(\hat{G}_i(s)\) of the sensor dynamics</p>
@@ -179,8 +179,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org52dba0e" class="outline-2">
<h2 id="org52dba0e"><span class="section-number-2">4.</span> Sensor Fusion Architecture</h2>
<div id="outline-container-org7a71f40" class="outline-2">
<h2 id="org7a71f40"><span class="section-number-2">4.</span> Sensor Fusion Architecture</h2>
<div class="outline-text-2" id="text-4">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate">\definecolor</span>{myblue}{rgb}{0, 0.447, 0.741}
@@ -232,7 +232,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org63acf85" class="figure">
<div id="org895e3d1" class="figure">
<p><img src="figs/fusion_super_sensor.png" alt="fusion_super_sensor.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Sensor fusion architecture with two normalized sensors</p>
@@ -240,8 +240,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org51c6b92" class="outline-2">
<h2 id="org51c6b92"><span class="section-number-2">5.</span> Sensor Model with Uncertainty</h2>
<div id="outline-container-org02ee7f2" class="outline-2">
<h2 id="org02ee7f2"><span class="section-number-2">5.</span> Sensor Model with Uncertainty</h2>
<div class="outline-text-2" id="text-5">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -275,7 +275,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org937c435" class="figure">
<div id="orga300be8" class="figure">
<p><img src="figs/sensor_model_uncertainty.png" alt="sensor_model_uncertainty.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Sensor with multiplicative input uncertainty</p>
@@ -283,8 +283,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgd0c3320" class="outline-2">
<h2 id="orgd0c3320"><span class="section-number-2">6.</span> Sensor Model with Uncertainty - Simplified</h2>
<div id="outline-container-org15f5c37" class="outline-2">
<h2 id="org15f5c37"><span class="section-number-2">6.</span> Sensor Model with Uncertainty - Simplified</h2>
<div class="outline-text-2" id="text-6">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -311,7 +311,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="orgce8343e" class="figure">
<div id="org7ccc258" class="figure">
<p><img src="figs/sensor_model_uncertainty_simplified.png" alt="sensor_model_uncertainty_simplified.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Simplified sensor model</p>
@@ -319,8 +319,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgd991dd2" class="outline-2">
<h2 id="orgd991dd2"><span class="section-number-2">7.</span> Sensor fusion architecture with sensor dynamics uncertainty</h2>
<div id="outline-container-org6703507" class="outline-2">
<h2 id="org6703507"><span class="section-number-2">7.</span> Sensor fusion architecture with sensor dynamics uncertainty</h2>
<div class="outline-text-2" id="text-7">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate">\definecolor</span>{myblue}{rgb}{0, 0.447, 0.741}
@@ -380,7 +380,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org5b69e5a" class="figure">
<div id="orgc80e315" class="figure">
<p><img src="figs/sensor_fusion_dynamic_uncertainty.png" alt="sensor_fusion_dynamic_uncertainty.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Sensor fusion architecture with sensor dynamics uncertainty</p>
@@ -388,8 +388,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgb45d1ac" class="outline-2">
<h2 id="orgb45d1ac"><span class="section-number-2">8.</span> Uncertainty set of the super sensor dynamics</h2>
<div id="outline-container-org730783f" class="outline-2">
<h2 id="org730783f"><span class="section-number-2">8.</span> Uncertainty set of the super sensor dynamics</h2>
<div class="outline-text-2" id="text-8">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate">\definecolor</span>{myblue}{rgb}{0, 0.447, 0.741}
@@ -432,7 +432,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="orgc80ec14" class="figure">
<div id="org6687171" class="figure">
<p><img src="figs/uncertainty_set_super_sensor.png" alt="uncertainty_set_super_sensor.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Uncertainty region of the super sensor dynamics in the complex plane (grey circle). The contribution of both sensors 1 and 2 to the total uncertainty are represented respectively by a blue circle and a red circle. The frequency dependency \(\omega\) is here omitted.</p>
@@ -440,8 +440,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgd194580" class="outline-2">
<h2 id="orgd194580"><span class="section-number-2">9.</span> Generalized plant used for \(\mathcal{H}_\infty\) synthesis of complementary filters</h2>
<div id="outline-container-org38b031f" class="outline-2">
<h2 id="org38b031f"><span class="section-number-2">9.</span> Generalized plant used for \(\mathcal{H}_\infty\) synthesis of complementary filters</h2>
<div class="outline-text-2" id="text-9">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -473,7 +473,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org725e946" class="figure">
<div id="orge10d26f" class="figure">
<p><img src="figs/h_infinity_robust_fusion_plant.png" alt="h_infinity_robust_fusion_plant.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Generalized plant used for \(\mathcal{H}_\infty\) synthesis of complementary filters</p>
@@ -481,8 +481,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgebe7ec5" class="outline-2">
<h2 id="orgebe7ec5"><span class="section-number-2">10.</span> Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</h2>
<div id="outline-container-orgc8963ca" class="outline-2">
<h2 id="orgc8963ca"><span class="section-number-2">10.</span> Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</h2>
<div class="outline-text-2" id="text-10">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -514,7 +514,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org47d276f" class="figure">
<div id="org0646c95" class="figure">
<p><img src="figs/h_infinity_robust_fusion_fb.png" alt="h_infinity_robust_fusion_fb.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Generalized plant with the synthesized filter</p>
@@ -522,8 +522,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgf9a2f39" class="outline-2">
<h2 id="orgf9a2f39"><span class="section-number-2">11.</span> LIGO Sensor Fusion Architecture</h2>
<div id="outline-container-orgc9e8b5c" class="outline-2">
<h2 id="orgc9e8b5c"><span class="section-number-2">11.</span> LIGO Sensor Fusion Architecture</h2>
<div class="outline-text-2" id="text-11">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate">\definecolor</span>{myblue}{rgb}{0, 0.447, 0.741}
@@ -570,7 +570,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org81fe1cf" class="figure">
<div id="org845a82e" class="figure">
<p><img src="figs/ligo_super_sensor_architecture.png" alt="ligo_super_sensor_architecture.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Simplified block diagram of the sensor blending strategy for the first stage at the LIGO</p>
@@ -578,8 +578,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orga2611bb" class="outline-2">
<h2 id="orga2611bb"><span class="section-number-2">12.</span> Closed-Loop Complementary Filters</h2>
<div id="outline-container-org852a702" class="outline-2">
<h2 id="org852a702"><span class="section-number-2">12.</span> Closed-Loop Complementary Filters</h2>
<div class="outline-text-2" id="text-12">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -602,7 +602,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org57ca8ce" class="figure">
<div id="org89c3b66" class="figure">
<p><img src="figs/feedback_sensor_fusion.png" alt="feedback_sensor_fusion.png" />
</p>
<p><span class="figure-number">Figure 12: </span>&ldquo;Closed-Loop&rdquo; complementary filters</p>
@@ -610,8 +610,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org5af72e4" class="outline-2">
<h2 id="org5af72e4"><span class="section-number-2">13.</span> Closed-Loop Fusion Architecture</h2>
<div id="outline-container-org21e2e13" class="outline-2">
<h2 id="org21e2e13"><span class="section-number-2">13.</span> Closed-Loop Fusion Architecture</h2>
<div class="outline-text-2" id="text-13">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -644,7 +644,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org8886809" class="figure">
<div id="org7c31417" class="figure">
<p><img src="figs/feedback_sensor_fusion_arch.png" alt="feedback_sensor_fusion_arch.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Classical feedback architecture used for sensor fusion</p>
@@ -652,8 +652,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org4e79ee7" class="outline-2">
<h2 id="org4e79ee7"><span class="section-number-2">14.</span> Feedback Loop Sensor Fusion Architecture</h2>
<div id="outline-container-org784c1ac" class="outline-2">
<h2 id="org784c1ac"><span class="section-number-2">14.</span> Feedback Loop Sensor Fusion Architecture</h2>
<div class="outline-text-2" id="text-14">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -675,7 +675,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org705140c" class="figure">
<div id="org3aa7290" class="figure">
<p><img src="figs/feedback_synthesis_architecture.png" alt="feedback_synthesis_architecture.png" />
</p>
<p><span class="figure-number">Figure 14: </span>Feedback architecture with included weights</p>
@@ -683,8 +683,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orgb59c88b" class="outline-2">
<h2 id="orgb59c88b"><span class="section-number-2">15.</span> Feedback Sensor Fusion - Generalized Plant</h2>
<div id="outline-container-org08b29ce" class="outline-2">
<h2 id="org08b29ce"><span class="section-number-2">15.</span> Feedback Sensor Fusion - Generalized Plant</h2>
<div class="outline-text-2" id="text-15">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -716,7 +716,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org32b295e" class="figure">
<div id="orgc836b02" class="figure">
<p><img src="figs/feedback_synthesis_architecture_generalized_plant.png" alt="feedback_synthesis_architecture_generalized_plant.png" />
</p>
<p><span class="figure-number">Figure 15: </span>Generalized plant used for the \(\mathcal{H}_\infty\) synthesis of &ldquo;closed-loop&rdquo; complementary filters</p>
@@ -724,8 +724,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-orge593f6d" class="outline-2">
<h2 id="orge593f6d"><span class="section-number-2">16.</span> Sensor Fusion - Sequential</h2>
<div id="outline-container-org9bf391e" class="outline-2">
<h2 id="org9bf391e"><span class="section-number-2">16.</span> Sensor Fusion - Sequential</h2>
<div class="outline-text-2" id="text-16">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
@@ -767,7 +767,7 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
<div id="org6fe58a4" class="figure">
<div id="org187b8ba" class="figure">
<p><img src="figs/sensor_fusion_three_sequential.png" alt="sensor_fusion_three_sequential.png" />
</p>
<p><span class="figure-number">Figure 16: </span>Sequential fusion</p>
@@ -775,8 +775,8 @@ Configuration file is accessible <a href="config.html">here</a>.
</div>
</div>
<div id="outline-container-org3b323e8" class="outline-2">
<h2 id="org3b323e8"><span class="section-number-2">17.</span> Sensor Fusion - Parallel</h2>
<div id="outline-container-orgc2ef6aa" class="outline-2">
<h2 id="orgc2ef6aa"><span class="section-number-2">17.</span> Sensor Fusion - Parallel</h2>
<div class="outline-text-2" id="text-17">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
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<p><img src="figs/sensor_fusion_three_parallel.png" alt="sensor_fusion_three_parallel.png" />
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<p><span class="figure-number">Figure 17: </span>Parallel fusion</p>
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<h2 id="org9baa5b5"><span class="section-number-2">18.</span> Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</h2>
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<h2 id="org90ea882"><span class="section-number-2">18.</span> Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</h2>
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<pre class="src src-latex"> <span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
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<p><img src="figs/comp_filter_three_hinf_gen_plant.png" alt="comp_filter_three_hinf_gen_plant.png" />
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<p><span class="figure-number">Figure 18: </span>Generalized plant for the \(\mathcal{H}_\infty\) synthesis of three complementary filters</p>
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<h2 id="org10ffb09"><span class="section-number-2">19.</span> Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</h2>
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<h2 id="orge8d8968"><span class="section-number-2">19.</span> Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</h2>
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<div class="org-src-container">
<pre class="src src-latex"> <span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
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<p><img src="figs/comp_filter_three_hinf_fb.png" alt="comp_filter_three_hinf_fb.png" />
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<p><span class="figure-number">Figure 19: </span>Generalized plant with the synthesized filter for the \(\mathcal{H}_\infty\) synthesis of three complementary filters</p>
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<div id="postamble" class="status">
<p class="author">Author: Thomas Dehaeze</p>
<p class="date">Created: 2021-09-01 mer. 10:15</p>
<p class="date">Created: 2021-09-02 jeu. 10:03</p>
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#+TITLE: A new method of designing complementary filters for sensor fusion using the $\mathcal{H}_\infty$ synthesis - Tikz Figures
#+TITLE: Designing complementary filters for sensor fusion using $\mathcal{H}_\infty$ synthesis - Tikz Figures
:DRAWER:
#+HTML_LINK_HOME: ../index.html
#+HTML_LINK_UP: ../index.html