Use online CSS and JS
This commit is contained in:
parent
5d6df8df40
commit
b60d6e3394
145
css/htmlize.css
145
css/htmlize.css
@ -1,145 +0,0 @@
|
||||
.org-bold { /* bold */ font-weight: bold; }
|
||||
.org-bold-italic { /* bold-italic */ font-weight: bold; font-style: italic; }
|
||||
.org-buffer-menu-buffer { /* buffer-menu-buffer */ font-weight: bold; }
|
||||
.org-builtin { /* font-lock-builtin-face */ color: #7a378b; }
|
||||
.org-button { /* button */ text-decoration: underline; }
|
||||
.org-calendar-today { /* calendar-today */ text-decoration: underline; }
|
||||
.org-change-log-acknowledgement { /* change-log-acknowledgement */ color: #b22222; }
|
||||
.org-change-log-conditionals { /* change-log-conditionals */ color: #a0522d; }
|
||||
.org-change-log-date { /* change-log-date */ color: #8b2252; }
|
||||
.org-change-log-email { /* change-log-email */ color: #a0522d; }
|
||||
.org-change-log-file { /* change-log-file */ color: #0000ff; }
|
||||
.org-change-log-function { /* change-log-function */ color: #a0522d; }
|
||||
.org-change-log-list { /* change-log-list */ color: #a020f0; }
|
||||
.org-change-log-name { /* change-log-name */ color: #008b8b; }
|
||||
.org-comint-highlight-input { /* comint-highlight-input */ font-weight: bold; }
|
||||
.org-comint-highlight-prompt { /* comint-highlight-prompt */ color: #00008b; }
|
||||
.org-comment { /* font-lock-comment-face */ color: #999988; font-style: italic; }
|
||||
.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; }
|
||||
.org-completions-annotations { /* completions-annotations */ font-style: italic; }
|
||||
.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; }
|
||||
.org-completions-first-difference { /* completions-first-difference */ font-weight: bold; }
|
||||
.org-constant { /* font-lock-constant-face */ color: #008b8b; }
|
||||
.org-diary { /* diary */ color: #ff0000; }
|
||||
.org-diff-context { /* diff-context */ color: #7f7f7f; }
|
||||
.org-diff-file-header { /* diff-file-header */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-function { /* diff-function */ background-color: #cccccc; }
|
||||
.org-diff-header { /* diff-header */ background-color: #cccccc; }
|
||||
.org-diff-hunk-header { /* diff-hunk-header */ background-color: #cccccc; }
|
||||
.org-diff-index { /* diff-index */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-nonexistent { /* diff-nonexistent */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-refine-change { /* diff-refine-change */ background-color: #d9d9d9; }
|
||||
.org-dired-directory { /* dired-directory */ color: #0000ff; }
|
||||
.org-dired-flagged { /* dired-flagged */ color: #ff0000; font-weight: bold; }
|
||||
.org-dired-header { /* dired-header */ color: #228b22; }
|
||||
.org-dired-ignored { /* dired-ignored */ color: #7f7f7f; }
|
||||
.org-dired-mark { /* dired-mark */ color: #008b8b; }
|
||||
.org-dired-marked { /* dired-marked */ color: #ff0000; font-weight: bold; }
|
||||
.org-dired-perm-write { /* dired-perm-write */ color: #b22222; }
|
||||
.org-dired-symlink { /* dired-symlink */ color: #a020f0; }
|
||||
.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; }
|
||||
.org-doc { /* font-lock-doc-face */ color: #8b2252; }
|
||||
.org-escape-glyph { /* escape-glyph */ color: #a52a2a; }
|
||||
.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; }
|
||||
.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; }
|
||||
.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; }
|
||||
.org-fringe { /* fringe */ background-color: #f2f2f2; }
|
||||
.org-function-name { /* font-lock-function-name-face */ color: teal; }
|
||||
.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; }
|
||||
.org-help-argument-name { /* help-argument-name */ font-style: italic; }
|
||||
.org-highlight { /* highlight */ background-color: #b4eeb4; }
|
||||
.org-holiday { /* holiday */ background-color: #ffc0cb; }
|
||||
.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; }
|
||||
.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; }
|
||||
.org-italic { /* italic */ font-style: italic; }
|
||||
.org-keyword { /* font-lock-keyword-face */ color: #0086b3; }
|
||||
.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; }
|
||||
.org-link { /* link */ color: #0000ff; text-decoration: underline; }
|
||||
.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; }
|
||||
.org-log-edit-header { /* log-edit-header */ color: #a020f0; }
|
||||
.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; }
|
||||
.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; }
|
||||
.org-match { /* match */ background-color: #ffff00; }
|
||||
.org-next-error { /* next-error */ background-color: #eedc82; }
|
||||
.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; }
|
||||
.org-org-archived { /* org-archived */ color: #7f7f7f; }
|
||||
.org-org-block { /* org-block */ color: #7f7f7f; }
|
||||
.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; }
|
||||
.org-org-block-end-line { /* org-block-end-line */ color: #b22222; }
|
||||
.org-org-checkbox { /* org-checkbox */ font-weight: bold; }
|
||||
.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; }
|
||||
.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
|
||||
.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
|
||||
.org-org-code { /* org-code */ color: #7f7f7f; }
|
||||
.org-org-column { /* org-column */ background-color: #e5e5e5; }
|
||||
.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
|
||||
.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-document-info { /* org-document-info */ color: #191970; }
|
||||
.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
|
||||
.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
|
||||
.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
|
||||
.org-org-drawer { /* org-drawer */ color: #0000ff; }
|
||||
.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
|
||||
.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-formula { /* org-formula */ color: #b22222; }
|
||||
.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
|
||||
.org-org-hide { /* org-hide */ color: #ffffff; }
|
||||
.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
|
||||
.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
|
||||
.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
|
||||
.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
|
||||
.org-org-level-4 { /* org-level-4 */ color: #b22222; }
|
||||
.org-org-level-5 { /* org-level-5 */ color: #228b22; }
|
||||
.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
|
||||
.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
|
||||
.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
|
||||
.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
|
||||
.org-org-meta-line { /* org-meta-line */ color: #b22222; }
|
||||
.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
|
||||
.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
|
||||
.org-org-quote { /* org-quote */ color: #7f7f7f; }
|
||||
.org-org-scheduled { /* org-scheduled */ color: #006400; }
|
||||
.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
|
||||
.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
|
||||
.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
|
||||
.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; }
|
||||
.org-org-table { /* org-table */ color: #0000ff; }
|
||||
.org-org-tag { /* org-tag */ font-weight: bold; }
|
||||
.org-org-target { /* org-target */ text-decoration: underline; }
|
||||
.org-org-time-grid { /* org-time-grid */ color: #b8860b; }
|
||||
.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; }
|
||||
.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; }
|
||||
.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; }
|
||||
.org-org-verse { /* org-verse */ color: #7f7f7f; }
|
||||
.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; }
|
||||
.org-outline-1 { /* outline-1 */ color: #0000ff; }
|
||||
.org-outline-2 { /* outline-2 */ color: #a0522d; }
|
||||
.org-outline-3 { /* outline-3 */ color: #a020f0; }
|
||||
.org-outline-4 { /* outline-4 */ color: #b22222; }
|
||||
.org-outline-5 { /* outline-5 */ color: #228b22; }
|
||||
.org-outline-6 { /* outline-6 */ color: #008b8b; }
|
||||
.org-outline-7 { /* outline-7 */ color: #7a378b; }
|
||||
.org-outline-8 { /* outline-8 */ color: #8b2252; }
|
||||
.org-preprocessor { /* font-lock-preprocessor-face */ color: #7a378b; }
|
||||
.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; }
|
||||
.org-regexp-grouping-backslash { /* font-lock-regexp-grouping-backslash */ font-weight: bold; }
|
||||
.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; }
|
||||
.org-region { /* region */ background-color: #eedc82; }
|
||||
.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; }
|
||||
.org-shadow { /* shadow */ color: #7f7f7f; }
|
||||
.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; }
|
||||
.org-show-paren-mismatch { /* show-paren-mismatch */ color: #ffffff; background-color: #a020f0; }
|
||||
.org-string { /* font-lock-string-face */ color: #dd1144; }
|
||||
.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; }
|
||||
.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; }
|
||||
.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; }
|
||||
.org-type { /* font-lock-type-face */ color: #228b22; }
|
||||
.org-underline { /* underline */ text-decoration: underline; }
|
||||
.org-variable-name { /* font-lock-variable-name-face */ color: teal; }
|
||||
.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; }
|
||||
.org-widget-button { /* widget-button */ font-weight: bold; }
|
||||
.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; }
|
||||
.org-widget-documentation { /* widget-documentation */ color: #006400; }
|
||||
.org-widget-field { /* widget-field */ background-color: #d9d9d9; }
|
||||
.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; }
|
||||
.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; }
|
||||
1096
css/readtheorg.css
1096
css/readtheorg.css
File diff suppressed because it is too large
Load Diff
28
index.html
28
index.html
@ -3,17 +3,13 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-10-05 lun. 14:58 -->
|
||||
<!-- 2020-11-12 jeu. 10:44 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Complementary Filters Shaping Using \(\mathcal{H}_\infty\) Synthesis</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
|
||||
<script src="js/jquery.min.js"></script>
|
||||
<script src="js/bootstrap.min.js"></script>
|
||||
<script src="js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="js/readtheorg.js"></script>
|
||||
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
@ -24,7 +20,11 @@
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="content">
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="../index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Complementary Filters Shaping Using \(\mathcal{H}_\infty\) Synthesis
|
||||
<br />
|
||||
<span class="subtitle">Dehaeze Thomas, Verma Mohit and Collette Christophe</span>
|
||||
@ -41,18 +41,18 @@ This method is shown to be easily applicable for the synthesis of complex comple
|
||||
</p>
|
||||
</blockquote>
|
||||
|
||||
<div id="outline-container-orgf99c99d" class="outline-2">
|
||||
<h2 id="orgf99c99d">Paper (<a href="paper/paper.pdf">link</a>)</h2>
|
||||
<div class="outline-text-2" id="text-orgf99c99d">
|
||||
<div id="outline-container-org51c6c0b" class="outline-2">
|
||||
<h2 id="org51c6c0b">Paper (<a href="paper/paper.pdf">link</a>)</h2>
|
||||
<div class="outline-text-2" id="text-org51c6c0b">
|
||||
<p>
|
||||
The paper has been created <a href="https://orgmode.org/">Org Mode</a> (generating <a href="https://www.latex-project.org/">LaTeX</a> code) under <a href="https://www.gnu.org/software/emacs/">Emacs</a>.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga085973" class="outline-2">
|
||||
<h2 id="orga085973">Tikz Figures (<a href="tikz/index.html">link</a>)</h2>
|
||||
<div class="outline-text-2" id="text-orga085973">
|
||||
<div id="outline-container-org6820ca5" class="outline-2">
|
||||
<h2 id="org6820ca5">Tikz Figures (<a href="tikz/index.html">link</a>)</h2>
|
||||
<div class="outline-text-2" id="text-org6820ca5">
|
||||
<p>
|
||||
All the figures for the paper have been generated using <a href="https://sourceforge.net/projects/pgf/">TikZ</a>.
|
||||
</p>
|
||||
|
||||
22
index.org
22
index.org
@ -1,14 +1,15 @@
|
||||
#+TITLE: Complementary Filters Shaping Using $\mathcal{H}_\infty$ Synthesis
|
||||
:DRAWER:
|
||||
#+SUBTITLE: Dehaeze Thomas, Verma Mohit and Collette Christophe
|
||||
|
||||
#+OPTIONS: toc:nil
|
||||
#+OPTIONS: html-postamble:nil
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/readtheorg.js"></script>
|
||||
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
:END:
|
||||
|
||||
#+begin_quote
|
||||
@ -43,17 +44,8 @@ All the figures for the paper have been generated using [[https://sourceforge.ne
|
||||
:END:
|
||||
To cite this paper use the following bibtex code.
|
||||
#+begin_src bibtex
|
||||
@inproceedings{dehaeze19_compl_filter_shapin_using_synth,
|
||||
author = {Dehaeze, Thomas and Vermat, Mohit and Collette Christophe},
|
||||
title = {Complementary Filters Shaping Using $\mathcal{H}_\infty$ Synthesis},
|
||||
booktitle = {7th International Conference on Control, Mechatronics and Automation (ICCMA)},
|
||||
year = {2019},
|
||||
language = {english},
|
||||
doi = {10.1109/ICCMA46720.2019.8988642},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
You can also use the formatted citation below.
|
||||
#+begin_quote
|
||||
Dehaeze T., Vermat M., and Collette C., "Complementary Filters Shaping Using ℋ∞ Synthesis," 2019 7th International Conference on Control, Mechatronics and Automation (ICCMA), Delft, Netherlands, 2019, pp. 459-464.
|
||||
#+end_quote
|
||||
|
||||
7
js/bootstrap.min.js
vendored
7
js/bootstrap.min.js
vendored
File diff suppressed because one or more lines are too long
4
js/jquery.min.js
vendored
4
js/jquery.min.js
vendored
File diff suppressed because one or more lines are too long
1
js/jquery.stickytableheaders.min.js
vendored
1
js/jquery.stickytableheaders.min.js
vendored
@ -1 +0,0 @@
|
||||
!function(a,b){"use strict";function c(c,g){var h=this;h.$el=a(c),h.el=c,h.id=e++,h.$window=a(b),h.$document=a(document),h.$el.bind("destroyed",a.proxy(h.teardown,h)),h.$clonedHeader=null,h.$originalHeader=null,h.isSticky=!1,h.hasBeenSticky=!1,h.leftOffset=null,h.topOffset=null,h.init=function(){h.$el.each(function(){var b=a(this);b.css("padding",0),h.$originalHeader=a("thead:first",this),h.$clonedHeader=h.$originalHeader.clone(),b.trigger("clonedHeader."+d,[h.$clonedHeader]),h.$clonedHeader.addClass("tableFloatingHeader"),h.$clonedHeader.css("display","none"),h.$originalHeader.addClass("tableFloatingHeaderOriginal"),h.$originalHeader.after(h.$clonedHeader),h.$printStyle=a('<style type="text/css" media="print">.tableFloatingHeader{display:none !important;}.tableFloatingHeaderOriginal{position:static !important;}</style>'),a("head").append(h.$printStyle)}),h.setOptions(g),h.updateWidth(),h.toggleHeaders(),h.bind()},h.destroy=function(){h.$el.unbind("destroyed",h.teardown),h.teardown()},h.teardown=function(){h.isSticky&&h.$originalHeader.css("position","static"),a.removeData(h.el,"plugin_"+d),h.unbind(),h.$clonedHeader.remove(),h.$originalHeader.removeClass("tableFloatingHeaderOriginal"),h.$originalHeader.css("visibility","visible"),h.$printStyle.remove(),h.el=null,h.$el=null},h.bind=function(){h.$scrollableArea.on("scroll."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.on("scroll."+d+h.id,h.setPositionValues),h.$window.on("resize."+d+h.id,h.toggleHeaders)),h.$scrollableArea.on("resize."+d,h.toggleHeaders),h.$scrollableArea.on("resize."+d,h.updateWidth)},h.unbind=function(){h.$scrollableArea.off("."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.off("."+d+h.id,h.setPositionValues),h.$window.off("."+d+h.id,h.toggleHeaders)),h.$scrollableArea.off("."+d,h.updateWidth)},h.toggleHeaders=function(){h.$el&&h.$el.each(function(){var b,c=a(this),d=h.isWindowScrolling?isNaN(h.options.fixedOffset)?h.options.fixedOffset.outerHeight():h.options.fixedOffset:h.$scrollableArea.offset().top+(isNaN(h.options.fixedOffset)?0:h.options.fixedOffset),e=c.offset(),f=h.$scrollableArea.scrollTop()+d,g=h.$scrollableArea.scrollLeft(),i=h.isWindowScrolling?f>e.top:d>e.top,j=(h.isWindowScrolling?f:0)<e.top+c.height()-h.$clonedHeader.height()-(h.isWindowScrolling?0:d);i&&j?(b=e.left-g+h.options.leftOffset,h.$originalHeader.css({position:"fixed","margin-top":h.options.marginTop,left:b,"z-index":3}),h.leftOffset=b,h.topOffset=d,h.$clonedHeader.css("display",""),h.isSticky||(h.isSticky=!0,h.updateWidth()),h.setPositionValues()):h.isSticky&&(h.$originalHeader.css("position","static"),h.$clonedHeader.css("display","none"),h.isSticky=!1,h.resetWidth(a("td,th",h.$clonedHeader),a("td,th",h.$originalHeader)))})},h.setPositionValues=function(){var a=h.$window.scrollTop(),b=h.$window.scrollLeft();!h.isSticky||0>a||a+h.$window.height()>h.$document.height()||0>b||b+h.$window.width()>h.$document.width()||h.$originalHeader.css({top:h.topOffset-(h.isWindowScrolling?0:a),left:h.leftOffset-(h.isWindowScrolling?0:b)})},h.updateWidth=function(){if(h.isSticky){h.$originalHeaderCells||(h.$originalHeaderCells=a("th,td",h.$originalHeader)),h.$clonedHeaderCells||(h.$clonedHeaderCells=a("th,td",h.$clonedHeader));var b=h.getWidth(h.$clonedHeaderCells);h.setWidth(b,h.$clonedHeaderCells,h.$originalHeaderCells),h.$originalHeader.css("width",h.$clonedHeader.width())}},h.getWidth=function(c){var d=[];return c.each(function(c){var e,f=a(this);if("border-box"===f.css("box-sizing"))e=f[0].getBoundingClientRect().width;else{var g=a("th",h.$originalHeader);if("collapse"===g.css("border-collapse"))if(b.getComputedStyle)e=parseFloat(b.getComputedStyle(this,null).width);else{var i=parseFloat(f.css("padding-left")),j=parseFloat(f.css("padding-right")),k=parseFloat(f.css("border-width"));e=f.outerWidth()-i-j-k}else e=f.width()}d[c]=e}),d},h.setWidth=function(a,b,c){b.each(function(b){var d=a[b];c.eq(b).css({"min-width":d,"max-width":d})})},h.resetWidth=function(b,c){b.each(function(b){var d=a(this);c.eq(b).css({"min-width":d.css("min-width"),"max-width":d.css("max-width")})})},h.setOptions=function(c){h.options=a.extend({},f,c),h.$scrollableArea=a(h.options.scrollableArea),h.isWindowScrolling=h.$scrollableArea[0]===b},h.updateOptions=function(a){h.setOptions(a),h.unbind(),h.bind(),h.updateWidth(),h.toggleHeaders()},h.init()}var d="stickyTableHeaders",e=0,f={fixedOffset:0,leftOffset:0,marginTop:0,scrollableArea:b};a.fn[d]=function(b){return this.each(function(){var e=a.data(this,"plugin_"+d);e?"string"==typeof b?e[b].apply(e):e.updateOptions(b):"destroy"!==b&&a.data(this,"plugin_"+d,new c(this,b))})}}(jQuery,window);
|
||||
@ -1,85 +0,0 @@
|
||||
$(function() {
|
||||
$('.note').before("<p class='admonition-title note'>Note</p>");
|
||||
$('.seealso').before("<p class='admonition-title seealso'>See also</p>");
|
||||
$('.warning').before("<p class='admonition-title warning'>Warning</p>");
|
||||
$('.caution').before("<p class='admonition-title caution'>Caution</p>");
|
||||
$('.attention').before("<p class='admonition-title attention'>Attention</p>");
|
||||
$('.tip').before("<p class='admonition-title tip'>Tip</p>");
|
||||
$('.important').before("<p class='admonition-title important'>Important</p>");
|
||||
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
||||
$('.error').before("<p class='admonition-title error'>Error</p>");
|
||||
$('.danger').before("<p class='admonition-title danger'>Danger</p>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
||||
|
||||
// Shift nav in mobile when clicking the menu.
|
||||
$(document).on('click', "[data-toggle='wy-nav-top']", function() {
|
||||
$("[data-toggle='wy-nav-shift']").toggleClass("shift");
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||
});
|
||||
// Close menu when you click a link.
|
||||
$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
|
||||
$("[data-toggle='wy-nav-shift']").removeClass("shift");
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||
});
|
||||
$(document).on('click', "[data-toggle='rst-current-version']", function() {
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift-up");
|
||||
});
|
||||
// Make tables responsive
|
||||
$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
||||
$('#text-table-of-contents ul').first().addClass('nav');
|
||||
// ScrollSpy also requires that we use
|
||||
// a Bootstrap nav component.
|
||||
$('body').scrollspy({target: '#text-table-of-contents'});
|
||||
|
||||
// add sticky table headers
|
||||
$('table').stickyTableHeaders();
|
||||
|
||||
// set the height of tableOfContents
|
||||
var $postamble = $('#postamble');
|
||||
var $tableOfContents = $('#table-of-contents');
|
||||
$tableOfContents.css({paddingBottom: $postamble.outerHeight()});
|
||||
|
||||
// add TOC button
|
||||
var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
|
||||
$('#content').prepend(toggleSidebar);
|
||||
|
||||
// add close button when sidebar showed in mobile screen
|
||||
var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
|
||||
var tocTitle = $('#table-of-contents').find('h2');
|
||||
tocTitle.append(closeBtn);
|
||||
});
|
||||
|
||||
window.SphinxRtdTheme = (function (jquery) {
|
||||
var stickyNav = (function () {
|
||||
var navBar,
|
||||
win,
|
||||
stickyNavCssClass = 'stickynav',
|
||||
applyStickNav = function () {
|
||||
if (navBar.height() <= win.height()) {
|
||||
navBar.addClass(stickyNavCssClass);
|
||||
} else {
|
||||
navBar.removeClass(stickyNavCssClass);
|
||||
}
|
||||
},
|
||||
enable = function () {
|
||||
applyStickNav();
|
||||
win.on('resize', applyStickNav);
|
||||
},
|
||||
init = function () {
|
||||
navBar = jquery('nav.wy-nav-side:first');
|
||||
win = jquery(window);
|
||||
};
|
||||
jquery(init);
|
||||
return {
|
||||
enable : enable
|
||||
};
|
||||
}());
|
||||
return {
|
||||
StickyNav : stickyNav
|
||||
};
|
||||
}($));
|
||||
File diff suppressed because one or more lines are too long
@ -3,17 +3,13 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-10-26 lun. 18:59 -->
|
||||
<!-- 2020-11-12 jeu. 10:44 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Complementary Filters Shaping Using \(\mathcal{H}_\infty\) Synthesis - Matlab Computation</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
<script src="../js/jquery.min.js"></script>
|
||||
<script src="../js/bootstrap.min.js"></script>
|
||||
<script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="../js/readtheorg.js"></script>
|
||||
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
@ -34,29 +30,29 @@
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgcd571e1">1. H-Infinity synthesis of complementary filters</a>
|
||||
<li><a href="#org8213c74">1. H-Infinity synthesis of complementary filters</a>
|
||||
<ul>
|
||||
<li><a href="#orgea65f42">1.1. Synthesis Architecture</a></li>
|
||||
<li><a href="#org8a8a446">1.2. Design of Weighting Function</a></li>
|
||||
<li><a href="#orgfe22503">1.3. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#orgf9471db">1.4. Obtained Complementary Filters</a></li>
|
||||
<li><a href="#org106a9c7">1.1. Synthesis Architecture</a></li>
|
||||
<li><a href="#org986f54a">1.2. Design of Weighting Function</a></li>
|
||||
<li><a href="#orge3bcbcd">1.3. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#org93a0167">1.4. Obtained Complementary Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org0e59118">2. Generating 3 complementary filters</a>
|
||||
<li><a href="#org2f5413b">2. Generating 3 complementary filters</a>
|
||||
<ul>
|
||||
<li><a href="#orgfbd127e">2.1. Theory</a></li>
|
||||
<li><a href="#orgb689a85">2.2. Weights</a></li>
|
||||
<li><a href="#org24d1ff1">2.3. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#orgef81b1e">2.4. Obtained Complementary Filters</a></li>
|
||||
<li><a href="#org180c831">2.1. Theory</a></li>
|
||||
<li><a href="#orgb4c7909">2.2. Weights</a></li>
|
||||
<li><a href="#org5a36c59">2.3. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#orgf8d8907">2.4. Obtained Complementary Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org2c0b99c">3. Implement complementary filters for LIGO</a>
|
||||
<li><a href="#org1236499">3. Implement complementary filters for LIGO</a>
|
||||
<ul>
|
||||
<li><a href="#org6ea0071">3.1. Specifications</a></li>
|
||||
<li><a href="#org8f811fb">3.2. FIR Filter</a></li>
|
||||
<li><a href="#org9a34a27">3.3. Weights</a></li>
|
||||
<li><a href="#orgc9f5d68">3.4. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#orgd83a581">3.5. Compare FIR and H-Infinity Filters</a></li>
|
||||
<li><a href="#org2d8dbcc">3.1. Specifications</a></li>
|
||||
<li><a href="#orga974b40">3.2. FIR Filter</a></li>
|
||||
<li><a href="#org33657ff">3.3. Weights</a></li>
|
||||
<li><a href="#orgb74a3c5">3.4. H-Infinity Synthesis</a></li>
|
||||
<li><a href="#org8b29f2c">3.5. Compare FIR and H-Infinity Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@ -81,25 +77,25 @@ To achieve this, the sensors included in the filter should complement one anothe
|
||||
This document is divided into several sections:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>in section <a href="#org954a80e">1</a>, the \(\mathcal{H}_\infty\) synthesis is used for generating two complementary filters</li>
|
||||
<li>in section <a href="#orga319f0c">2</a>, a method using the \(\mathcal{H}_\infty\) synthesis is proposed to shape three of more complementary filters</li>
|
||||
<li>in section <a href="#orgb69dc24">3</a>, the \(\mathcal{H}_\infty\) synthesis is used and compared with FIR complementary filters used for LIGO</li>
|
||||
<li>in section <a href="#org181592e">1</a>, the \(\mathcal{H}_\infty\) synthesis is used for generating two complementary filters</li>
|
||||
<li>in section <a href="#org670207e">2</a>, a method using the \(\mathcal{H}_\infty\) synthesis is proposed to shape three of more complementary filters</li>
|
||||
<li>in section <a href="#org3725bd2">3</a>, the \(\mathcal{H}_\infty\) synthesis is used and compared with FIR complementary filters used for LIGO</li>
|
||||
</ul>
|
||||
|
||||
<div class="note" id="org3c0f990">
|
||||
<div class="note" id="orgf9dc18e">
|
||||
<p>
|
||||
Add the Matlab code use to obtain the results presented in the paper are accessible <a href="matlab.zip">here</a> and presented below.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcd571e1" class="outline-2">
|
||||
<h2 id="orgcd571e1"><span class="section-number-2">1</span> H-Infinity synthesis of complementary filters</h2>
|
||||
<div id="outline-container-org8213c74" class="outline-2">
|
||||
<h2 id="org8213c74"><span class="section-number-2">1</span> H-Infinity synthesis of complementary filters</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="org954a80e"></a>
|
||||
<a id="org181592e"></a>
|
||||
</p>
|
||||
<div class="note" id="orgca3b1ba">
|
||||
<div class="note" id="orgfba238b">
|
||||
<p>
|
||||
The Matlab file corresponding to this section is accessible <a href="matlab/h_inf_synthesis_complementary_filters.m">here</a>.
|
||||
</p>
|
||||
@ -107,8 +103,8 @@ The Matlab file corresponding to this section is accessible <a href="matlab/h_in
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgea65f42" class="outline-3">
|
||||
<h3 id="orgea65f42"><span class="section-number-3">1.1</span> Synthesis Architecture</h3>
|
||||
<div id="outline-container-org106a9c7" class="outline-3">
|
||||
<h3 id="org106a9c7"><span class="section-number-3">1.1</span> Synthesis Architecture</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We here synthesize two complementary filters using the \(\mathcal{H}_\infty\) synthesis.
|
||||
@ -116,18 +112,18 @@ The goal is to specify upper bounds on the norms of the two complementary filter
|
||||
</p>
|
||||
|
||||
<p>
|
||||
In order to do so, we use the generalized plant shown on figure <a href="#org46317e2">1</a> where \(W_1(s)\) and \(W_2(s)\) are weighting transfer functions that will be used to shape \(H_1(s)\) and \(H_2(s)\) respectively.
|
||||
In order to do so, we use the generalized plant shown on figure <a href="#orgb57e788">1</a> where \(W_1(s)\) and \(W_2(s)\) are weighting transfer functions that will be used to shape \(H_1(s)\) and \(H_2(s)\) respectively.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org46317e2" class="figure">
|
||||
<div id="orgb57e788" class="figure">
|
||||
<p><img src="figs-tikz/h_infinity_robust_fusion.png" alt="h_infinity_robust_fusion.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>\(\mathcal{H}_\infty\) synthesis of the complementary filters</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The \(\mathcal{H}_\infty\) synthesis applied on this generalized plant will give a transfer function \(H_2\) (figure <a href="#org46317e2">1</a>) such that the \(\mathcal{H}_\infty\) norm of the transfer function from \(w\) to \([z_1,\ z_2]\) is less than one:
|
||||
The \(\mathcal{H}_\infty\) synthesis applied on this generalized plant will give a transfer function \(H_2\) (figure <a href="#orgb57e788">1</a>) such that the \(\mathcal{H}_\infty\) norm of the transfer function from \(w\) to \([z_1,\ z_2]\) is less than one:
|
||||
\[ \left\| \begin{array}{c} (1 - H_2(s)) W_1(s) \\ H_2(s) W_2(s) \end{array} \right\|_\infty < 1 \]
|
||||
</p>
|
||||
|
||||
@ -147,8 +143,8 @@ We then see that \(W_1(s)\) and \(W_2(s)\) can be used to shape both \(H_1(s)\)
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8a8a446" class="outline-3">
|
||||
<h3 id="org8a8a446"><span class="section-number-3">1.2</span> Design of Weighting Function</h3>
|
||||
<div id="outline-container-org986f54a" class="outline-3">
|
||||
<h3 id="org986f54a"><span class="section-number-3">1.2</span> Design of Weighting Function</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<p>
|
||||
A formula is proposed to help the design of the weighting functions:
|
||||
@ -172,11 +168,11 @@ The parameters permits to specify:
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The general shape of a weighting function generated using the formula is shown in figure <a href="#org4ee6999">2</a>.
|
||||
The general shape of a weighting function generated using the formula is shown in figure <a href="#org5840815">2</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org4ee6999" class="figure">
|
||||
<div id="org5840815" class="figure">
|
||||
<p><img src="figs-tikz/weight_formula.png" alt="weight_formula.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Amplitude of the proposed formula for the weighting functions</p>
|
||||
@ -192,7 +188,7 @@ W2 = (((1<span class="org-type">/</span>w0)<span class="org-type">*</span>sqrt((
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org79474f8" class="figure">
|
||||
<div id="org518a313" class="figure">
|
||||
<p><img src="figs/weights_W1_W2.png" alt="weights_W1_W2.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Weights on the complementary filters \(W_1\) and \(W_2\) and the associated performance weights</p>
|
||||
@ -200,8 +196,8 @@ W2 = (((1<span class="org-type">/</span>w0)<span class="org-type">*</span>sqrt((
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfe22503" class="outline-3">
|
||||
<h3 id="orgfe22503"><span class="section-number-3">1.3</span> H-Infinity Synthesis</h3>
|
||||
<div id="outline-container-orge3bcbcd" class="outline-3">
|
||||
<h3 id="orge3bcbcd"><span class="section-number-3">1.3</span> H-Infinity Synthesis</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
We define the generalized plant \(P\) on matlab.
|
||||
@ -221,7 +217,7 @@ And we do the \(\mathcal{H}_\infty\) synthesis using the <code>hinfsyn</code> co
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<pre class="example" id="org9fcd456">
|
||||
<pre class="example" id="org819e288">
|
||||
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Resetting value of Gamma min based on D_11, D_12, D_21 terms
|
||||
|
||||
@ -255,7 +251,7 @@ Test bounds: 0.1000 < gamma <= 1050.0000
|
||||
</pre>
|
||||
|
||||
<p>
|
||||
We then define the high pass filter \(H_1 = 1 - H_2\). The bode plot of both \(H_1\) and \(H_2\) is shown on figure <a href="#orgbc23afe">4</a>.
|
||||
We then define the high pass filter \(H_1 = 1 - H_2\). The bode plot of both \(H_1\) and \(H_2\) is shown on figure <a href="#orgf63dab4">4</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -265,15 +261,15 @@ We then define the high pass filter \(H_1 = 1 - H_2\). The bode plot of both \(H
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf9471db" class="outline-3">
|
||||
<h3 id="orgf9471db"><span class="section-number-3">1.4</span> Obtained Complementary Filters</h3>
|
||||
<div id="outline-container-org93a0167" class="outline-3">
|
||||
<h3 id="org93a0167"><span class="section-number-3">1.4</span> Obtained Complementary Filters</h3>
|
||||
<div class="outline-text-3" id="text-1-4">
|
||||
<p>
|
||||
The obtained complementary filters are shown on figure <a href="#orgbc23afe">4</a>.
|
||||
The obtained complementary filters are shown on figure <a href="#orgf63dab4">4</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgbc23afe" class="figure">
|
||||
<div id="orgf63dab4" class="figure">
|
||||
<p><img src="figs/hinf_filters_results.png" alt="hinf_filters_results.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Obtained complementary filters using \(\mathcal{H}_\infty\) synthesis</p>
|
||||
@ -282,13 +278,13 @@ The obtained complementary filters are shown on figure <a href="#orgbc23afe">4</
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e59118" class="outline-2">
|
||||
<h2 id="org0e59118"><span class="section-number-2">2</span> Generating 3 complementary filters</h2>
|
||||
<div id="outline-container-org2f5413b" class="outline-2">
|
||||
<h2 id="org2f5413b"><span class="section-number-2">2</span> Generating 3 complementary filters</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="orga319f0c"></a>
|
||||
<a id="org670207e"></a>
|
||||
</p>
|
||||
<div class="note" id="org2ba2674">
|
||||
<div class="note" id="org9dc9516">
|
||||
<p>
|
||||
The Matlab file corresponding to this section is accessible <a href="matlab/three_comp_filters.m">here</a>.
|
||||
</p>
|
||||
@ -296,8 +292,8 @@ The Matlab file corresponding to this section is accessible <a href="matlab/thre
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfbd127e" class="outline-3">
|
||||
<h3 id="orgfbd127e"><span class="section-number-3">2.1</span> Theory</h3>
|
||||
<div id="outline-container-org180c831" class="outline-3">
|
||||
<h3 id="org180c831"><span class="section-number-3">2.1</span> Theory</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
We want:
|
||||
@ -310,11 +306,11 @@ We want:
|
||||
\end{align*}
|
||||
|
||||
<p>
|
||||
For that, we use the \(\mathcal{H}_\infty\) synthesis with the architecture shown on figure <a href="#org353bdb6">5</a>.
|
||||
For that, we use the \(\mathcal{H}_\infty\) synthesis with the architecture shown on figure <a href="#orga622494">5</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org353bdb6" class="figure">
|
||||
<div id="orga622494" class="figure">
|
||||
<p><img src="figs-tikz/comp_filter_three_hinf.png" alt="comp_filter_three_hinf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Generalized architecture for generating 3 complementary filters</p>
|
||||
@ -335,8 +331,8 @@ And thus if we choose \(H_1 = 1 - H_2 - H_3\) we have solved the problem.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb689a85" class="outline-3">
|
||||
<h3 id="orgb689a85"><span class="section-number-3">2.2</span> Weights</h3>
|
||||
<div id="outline-container-orgb4c7909" class="outline-3">
|
||||
<h3 id="orgb4c7909"><span class="section-number-3">2.2</span> Weights</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
First we define the weights.
|
||||
@ -353,7 +349,7 @@ W3 = (((1<span class="org-type">/</span>w0)<span class="org-type">*</span>sqrt((
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org743463d" class="figure">
|
||||
<div id="org9526a8b" class="figure">
|
||||
<p><img src="figs/three_weighting_functions.png" alt="three_weighting_functions.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Three weighting functions used for the \(\mathcal{H}_\infty\) synthesis of the complementary filters</p>
|
||||
@ -361,8 +357,8 @@ W3 = (((1<span class="org-type">/</span>w0)<span class="org-type">*</span>sqrt((
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org24d1ff1" class="outline-3">
|
||||
<h3 id="org24d1ff1"><span class="section-number-3">2.3</span> H-Infinity Synthesis</h3>
|
||||
<div id="outline-container-org5a36c59" class="outline-3">
|
||||
<h3 id="org5a36c59"><span class="section-number-3">2.3</span> H-Infinity Synthesis</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
Then we create the generalized plant <code>P</code>.
|
||||
@ -383,7 +379,7 @@ And we do the \(\mathcal{H}_\infty\) synthesis.
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<pre class="example" id="org4dc4918">
|
||||
<pre class="example" id="orgd289daa">
|
||||
[H, ~, gamma, ~] = hinfsyn(P, 1, 2,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Resetting value of Gamma min based on D_11, D_12, D_21 terms
|
||||
|
||||
@ -418,8 +414,8 @@ Test bounds: 0.1000 < gamma <= 1050.0000
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgef81b1e" class="outline-3">
|
||||
<h3 id="orgef81b1e"><span class="section-number-3">2.4</span> Obtained Complementary Filters</h3>
|
||||
<div id="outline-container-orgf8d8907" class="outline-3">
|
||||
<h3 id="orgf8d8907"><span class="section-number-3">2.4</span> Obtained Complementary Filters</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
The obtained filters are:
|
||||
@ -432,7 +428,7 @@ H1 = 1 <span class="org-type">-</span> H2 <span class="org-type">-</span> H3;
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org7b51da2" class="figure">
|
||||
<div id="orgf8995ee" class="figure">
|
||||
<p><img src="figs/three_complementary_filters_results.png" alt="three_complementary_filters_results.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>The three complementary filters obtained after \(\mathcal{H}_\infty\) synthesis</p>
|
||||
@ -441,13 +437,13 @@ H1 = 1 <span class="org-type">-</span> H2 <span class="org-type">-</span> H3;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2c0b99c" class="outline-2">
|
||||
<h2 id="org2c0b99c"><span class="section-number-2">3</span> Implement complementary filters for LIGO</h2>
|
||||
<div id="outline-container-org1236499" class="outline-2">
|
||||
<h2 id="org1236499"><span class="section-number-2">3</span> Implement complementary filters for LIGO</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="orgb69dc24"></a>
|
||||
<a id="org3725bd2"></a>
|
||||
</p>
|
||||
<div class="note" id="orgce8d730">
|
||||
<div class="note" id="orgef062eb">
|
||||
<p>
|
||||
The Matlab file corresponding to this section is accessible <a href="matlab/comp_filters_ligo.m">here</a>.
|
||||
</p>
|
||||
@ -463,8 +459,8 @@ The FIR complementary filters designed in (<a href="#citeproc_bib_item_1">Hua 20
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6ea0071" class="outline-3">
|
||||
<h3 id="org6ea0071"><span class="section-number-3">3.1</span> Specifications</h3>
|
||||
<div id="outline-container-org2d8dbcc" class="outline-3">
|
||||
<h3 id="org2d8dbcc"><span class="section-number-3">3.1</span> Specifications</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
The specifications for the filters are:
|
||||
@ -477,11 +473,11 @@ The specifications for the filters are:
|
||||
</ol>
|
||||
|
||||
<p>
|
||||
The specifications are translated in upper bounds of the complementary filters are shown on figure <a href="#orgcfe60ed">8</a>.
|
||||
The specifications are translated in upper bounds of the complementary filters are shown on figure <a href="#orge86890c">8</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgcfe60ed" class="figure">
|
||||
<div id="orge86890c" class="figure">
|
||||
<p><img src="figs/ligo_specifications.png" alt="ligo_specifications.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Specification for the LIGO complementary filters</p>
|
||||
@ -489,8 +485,8 @@ The specifications are translated in upper bounds of the complementary filters a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8f811fb" class="outline-3">
|
||||
<h3 id="org8f811fb"><span class="section-number-3">3.2</span> FIR Filter</h3>
|
||||
<div id="outline-container-orga974b40" class="outline-3">
|
||||
<h3 id="orga974b40"><span class="section-number-3">3.2</span> FIR Filter</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
We here try to implement the FIR complementary filter synthesis as explained in (<a href="#citeproc_bib_item_1">Hua 2005</a>).
|
||||
@ -571,7 +567,7 @@ h = y(2<span class="org-type">:</span>end);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<pre class="example" id="orgd562951">
|
||||
<pre class="example" id="orgbf29758">
|
||||
cvx_begin
|
||||
variable y(n+1,1)
|
||||
% t
|
||||
@ -648,7 +644,7 @@ h = y(2:end);
|
||||
</pre>
|
||||
|
||||
<p>
|
||||
Finally, we compute the filter response over the frequency vector defined and the result is shown on figure <a href="#org0d25e01">9</a> which is very close to the filters obtain in (<a href="#citeproc_bib_item_1">Hua 2005</a>).
|
||||
Finally, we compute the filter response over the frequency vector defined and the result is shown on figure <a href="#org6095ba3">9</a> which is very close to the filters obtain in (<a href="#citeproc_bib_item_1">Hua 2005</a>).
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -658,16 +654,16 @@ H = [exp(<span class="org-type">-</span><span class="org-constant">j</span><span
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org0d25e01" class="figure">
|
||||
<div id="org6095ba3" class="figure">
|
||||
<p><img src="figs/fir_filter_ligo.png" alt="fir_filter_ligo.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>FIR Complementary filters obtain after convex optimization (<a href="./figs/fir_filter_ligo.png">png</a>, <a href="./figs/fir_filter_ligo.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 9: </span>FIR Complementary filters obtain after convex optimization</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9a34a27" class="outline-3">
|
||||
<h3 id="org9a34a27"><span class="section-number-3">3.3</span> Weights</h3>
|
||||
<div id="outline-container-org33657ff" class="outline-3">
|
||||
<h3 id="org33657ff"><span class="section-number-3">3.3</span> Weights</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<p>
|
||||
We design weights that will be used for the \(\mathcal{H}_\infty\) synthesis of the complementary filters.
|
||||
@ -681,11 +677,11 @@ Here are the requirements on the filters:
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The bode plot of the weights is shown on figure <a href="#orge27ef5e">10</a>.
|
||||
The bode plot of the weights is shown on figure <a href="#org9b70f72">10</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orge27ef5e" class="figure">
|
||||
<div id="org9b70f72" class="figure">
|
||||
<p><img src="figs/ligo_weights.png" alt="ligo_weights.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Weights for the \(\mathcal{H}_\infty\) synthesis</p>
|
||||
@ -693,11 +689,11 @@ The bode plot of the weights is shown on figure <a href="#orge27ef5e">10</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc9f5d68" class="outline-3">
|
||||
<h3 id="orgc9f5d68"><span class="section-number-3">3.4</span> H-Infinity Synthesis</h3>
|
||||
<div id="outline-container-orgb74a3c5" class="outline-3">
|
||||
<h3 id="orgb74a3c5"><span class="section-number-3">3.4</span> H-Infinity Synthesis</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<p>
|
||||
We define the generalized plant as shown on figure <a href="#org46317e2">1</a>.
|
||||
We define the generalized plant as shown on figure <a href="#orgb57e788">1</a>.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">P = [0 wL;
|
||||
@ -714,7 +710,7 @@ And we do the \(\mathcal{H}_\infty\) synthesis using the <code>hinfsyn</code> co
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<pre class="example" id="org51b2320">
|
||||
<pre class="example" id="orgc616ee9">
|
||||
[Hl, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Resetting value of Gamma min based on D_11, D_12, D_21 terms
|
||||
|
||||
@ -749,18 +745,18 @@ The high pass filter is defined as \(H_H = 1 - H_L\).
|
||||
The size of the filters is shown below.
|
||||
</p>
|
||||
|
||||
<pre class="example" id="orgede384d">
|
||||
<pre class="example" id="org2166bb4">
|
||||
size(Hh), size(Hl)
|
||||
State-space model with 1 outputs, 1 inputs, and 27 states.
|
||||
State-space model with 1 outputs, 1 inputs, and 27 states.
|
||||
</pre>
|
||||
|
||||
<p>
|
||||
The bode plot of the obtained filters as shown on figure <a href="#org941eede">11</a>.
|
||||
The bode plot of the obtained filters as shown on figure <a href="#org637c959">11</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org941eede" class="figure">
|
||||
<div id="org637c959" class="figure">
|
||||
<p><img src="figs/hinf_synthesis_ligo_results.png" alt="hinf_synthesis_ligo_results.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Obtained complementary filters using the \(\mathcal{H}_\infty\) synthesis</p>
|
||||
@ -768,15 +764,15 @@ The bode plot of the obtained filters as shown on figure <a href="#org941eede">1
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd83a581" class="outline-3">
|
||||
<h3 id="orgd83a581"><span class="section-number-3">3.5</span> Compare FIR and H-Infinity Filters</h3>
|
||||
<div id="outline-container-org8b29f2c" class="outline-3">
|
||||
<h3 id="org8b29f2c"><span class="section-number-3">3.5</span> Compare FIR and H-Infinity Filters</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<p>
|
||||
Let’s now compare the FIR filters designed in (<a href="#citeproc_bib_item_1">Hua 2005</a>) and the one obtained with the \(\mathcal{H}_\infty\) synthesis on figure <a href="#org4f70e8a">12</a>.
|
||||
Let’s now compare the FIR filters designed in (<a href="#citeproc_bib_item_1">Hua 2005</a>) and the one obtained with the \(\mathcal{H}_\infty\) synthesis on figure <a href="#orgf4bf8ca">12</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org4f70e8a" class="figure">
|
||||
<div id="orgf4bf8ca" class="figure">
|
||||
<p><img src="figs/comp_fir_ligo_hinf.png" alt="comp_fir_ligo_hinf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Comparison between the FIR filters developped for LIGO and the \(\mathcal{H}_\infty\) complementary filters</p>
|
||||
@ -796,7 +792,7 @@ Let’s now compare the FIR filters designed in (<a href="#citeproc_bib_item
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2020-10-26 lun. 18:59</p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 10:44</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -3,16 +3,12 @@
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
|
||||
#+LATEX_CLASS: cleanreport
|
||||
#+LATEX_CLASS_OPTIONS: [tocnp, secbreak, minted]
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :tangle matlab/comp_filters_design.m
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
|
||||
472
tikz/config.html
472
tikz/config.html
@ -3,308 +3,77 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2019-11-05 mar. 17:27 -->
|
||||
<!-- 2020-11-12 jeu. 10:44 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>LaTeX Configuration for Tikz Figures</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
<script src="../js/jquery.min.js"></script>
|
||||
<script src="../js/bootstrap.min.js"></script>
|
||||
<script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="../js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2019 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="content">
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="../index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="../index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">LaTeX Configuration for Tikz Figures</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#org1dd6f76">1. Packages</a></li>
|
||||
<li><a href="#orgb097669">2. Tikz related packages</a></li>
|
||||
<li><a href="#orgef8c9ec">3. Tikz Libraries</a></li>
|
||||
<li><a href="#org8ca068a">4. PGF Plot libraries and config</a></li>
|
||||
<li><a href="#org4eb0de4">5. Setup size of figures</a></li>
|
||||
<li><a href="#orga3a90aa">6. Setup Arrows style</a></li>
|
||||
<li><a href="#orge17acf4">7. Colors</a></li>
|
||||
<li><a href="#orgee5bb97">8. Control</a>
|
||||
<li><a href="#orgeb233fa">1. Packages</a></li>
|
||||
<li><a href="#org8c39360">2. Tikz related packages</a></li>
|
||||
<li><a href="#org983cb7d">3. Tikz Libraries</a></li>
|
||||
<li><a href="#org1148426">4. PGF Plot libraries and config</a></li>
|
||||
<li><a href="#org35d7300">5. Setup size of figures</a></li>
|
||||
<li><a href="#orgede76fe">6. Setup Arrows style</a></li>
|
||||
<li><a href="#org96b5d69">7. Colors</a></li>
|
||||
<li><a href="#orga318f09">8. Control</a>
|
||||
<ul>
|
||||
<li><a href="#orgea8451a">8.1. Blocks</a></li>
|
||||
<li><a href="#org7ce8263">8.2. Branches</a></li>
|
||||
<li><a href="#org28a7366">8.3. Hand Writen Style</a></li>
|
||||
<li><a href="#org71f1934">8.4. DAC</a></li>
|
||||
<li><a href="#org3701401">8.5. ADC</a></li>
|
||||
<li><a href="#orgb647158">8.6. Gain</a></li>
|
||||
<li><a href="#orgf9c3aa6">8.7. Add / Substract / Divide / Multiply block</a></li>
|
||||
<li><a href="#org5f8db63">8.1. Blocks</a></li>
|
||||
<li><a href="#org6e2b7de">8.2. Branches</a></li>
|
||||
<li><a href="#orgd36d746">8.3. Hand Writen Style</a></li>
|
||||
<li><a href="#org2640267">8.4. DAC</a></li>
|
||||
<li><a href="#orga191a8b">8.5. ADC</a></li>
|
||||
<li><a href="#orged7cf36">8.6. Gain</a></li>
|
||||
<li><a href="#org38d8e7d">8.7. Add / Substract / Divide / Multiply block</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org29efc5d">9. Plots</a>
|
||||
<li><a href="#org7aad8c7">9. Plots</a>
|
||||
<ul>
|
||||
<li><a href="#org9add0aa">9.1. Default line caps</a></li>
|
||||
<li><a href="#orge810969">9.2. Grid</a></li>
|
||||
<li><a href="#org1e383fb">9.3. Lines</a></li>
|
||||
<li><a href="#org5ebbe78">9.4. Ticks</a></li>
|
||||
<li><a href="#org999fa62">9.5. Size</a></li>
|
||||
<li><a href="#org85d084a">9.6. Label</a></li>
|
||||
<li><a href="#org29946e8">9.7. Legend</a></li>
|
||||
<li><a href="#org9e10fa4">9.1. Default line caps</a></li>
|
||||
<li><a href="#org7d05724">9.2. Grid</a></li>
|
||||
<li><a href="#org494eb40">9.3. Lines</a></li>
|
||||
<li><a href="#org2fb301b">9.4. Ticks</a></li>
|
||||
<li><a href="#orgdf46af2">9.5. Size</a></li>
|
||||
<li><a href="#orgb5d9397">9.6. Label</a></li>
|
||||
<li><a href="#org95997d3">9.7. Legend</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org407f0ee">10. Mechanical</a>
|
||||
<li><a href="#org8620c5d">10. Mechanical</a>
|
||||
<ul>
|
||||
<li><a href="#orgffe197b">10.1. Spring</a></li>
|
||||
<li><a href="#org1f14fa9">10.2. Coil</a></li>
|
||||
<li><a href="#org1622011">10.3. Damper</a></li>
|
||||
<li><a href="#org5b48f92">10.4. Actuator</a></li>
|
||||
<li><a href="#orgf654c5a">10.5. Ground</a></li>
|
||||
<li><a href="#org6be18b5">10.6. Force Sensor</a></li>
|
||||
<li><a href="#org3655499">10.7. Inertial Sensor</a></li>
|
||||
<li><a href="#org2072839">10.8. Cross</a></li>
|
||||
<li><a href="#org551a108">10.9. Piezoelectric actuator</a></li>
|
||||
<li><a href="#org9769616">10.10. Voice coil</a></li>
|
||||
<li><a href="#org4fad7e8">10.1. Spring</a></li>
|
||||
<li><a href="#orgda1e1f4">10.2. Coil</a></li>
|
||||
<li><a href="#org2d2c2fe">10.3. Damper</a></li>
|
||||
<li><a href="#orgbd3233c">10.4. Actuator</a></li>
|
||||
<li><a href="#orgd0c4527">10.5. Ground</a></li>
|
||||
<li><a href="#org4c41ca9">10.6. Force Sensor</a></li>
|
||||
<li><a href="#org4699edc">10.7. Inertial Sensor</a></li>
|
||||
<li><a href="#orgfc14769">10.8. Cross</a></li>
|
||||
<li><a href="#org7593ed1">10.9. Piezoelectric actuator</a></li>
|
||||
<li><a href="#orgebe134c">10.10. Voice coil</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgd9f02f9">11. Optics</a></li>
|
||||
<li><a href="#orgb27c58d">12. Misc</a></li>
|
||||
<li><a href="#org17bab25">13. More Defaults specific to this paper</a></li>
|
||||
<li><a href="#orgd1f3c70">11. Optics</a></li>
|
||||
<li><a href="#orgbd5a2ff">12. Misc</a></li>
|
||||
<li><a href="#org27f9f50">13. More Defaults specific to this paper</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1dd6f76" class="outline-2">
|
||||
<h2 id="org1dd6f76"><span class="section-number-2">1</span> Packages</h2>
|
||||
<div id="outline-container-orgeb233fa" class="outline-2">
|
||||
<h2 id="orgeb233fa"><span class="section-number-2">1</span> Packages</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"><span class="org-keyword">\usepackage</span></span>[<span class="org-variable-name">utf8</span>]{<span class="org-function-name">inputenc</span>}
|
||||
@ -350,8 +119,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb097669" class="outline-2">
|
||||
<h2 id="orgb097669"><span class="section-number-2">2</span> Tikz related packages</h2>
|
||||
<div id="outline-container-org8c39360" class="outline-2">
|
||||
<h2 id="org8c39360"><span class="section-number-2">2</span> Tikz related packages</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">\usepackage</span></span>{<span class="org-function-name">tikz</span>} <span class="org-comment">% Tikz</span>
|
||||
@ -365,8 +134,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgef8c9ec" class="outline-2">
|
||||
<h2 id="orgef8c9ec"><span class="section-number-2">3</span> Tikz Libraries</h2>
|
||||
<div id="outline-container-org983cb7d" class="outline-2">
|
||||
<h2 id="org983cb7d"><span class="section-number-2">3</span> Tikz Libraries</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">\usetikzlibrary</span>{arrows} <span class="org-comment">% Arrow tip library</span>
|
||||
@ -393,8 +162,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8ca068a" class="outline-2">
|
||||
<h2 id="org8ca068a"><span class="section-number-2">4</span> PGF Plot libraries and config</h2>
|
||||
<div id="outline-container-org1148426" class="outline-2">
|
||||
<h2 id="org1148426"><span class="section-number-2">4</span> PGF Plot libraries and config</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">\usepgfplotslibrary</span>{patchplots}
|
||||
@ -407,8 +176,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4eb0de4" class="outline-2">
|
||||
<h2 id="org4eb0de4"><span class="section-number-2">5</span> Setup size of figures</h2>
|
||||
<div id="outline-container-org35d7300" class="outline-2">
|
||||
<h2 id="org35d7300"><span class="section-number-2">5</span> Setup size of figures</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">\newlength</span></span>{<span class="org-font-latex-sedate"><span class="org-function-name">\fheight</span></span>}
|
||||
@ -421,8 +190,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga3a90aa" class="outline-2">
|
||||
<h2 id="orga3a90aa"><span class="section-number-2">6</span> Setup Arrows style</h2>
|
||||
<div id="outline-container-orgede76fe" class="outline-2">
|
||||
<h2 id="orgede76fe"><span class="section-number-2">6</span> Setup Arrows style</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">\tikzset</span>{>=Stealth}
|
||||
@ -433,8 +202,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge17acf4" class="outline-2">
|
||||
<h2 id="orge17acf4"><span class="section-number-2">7</span> Colors</h2>
|
||||
<div id="outline-container-org96b5d69" class="outline-2">
|
||||
<h2 id="org96b5d69"><span class="section-number-2">7</span> Colors</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"><span class="org-keyword">\usepackage</span></span>{<span class="org-function-name">xcolor</span>}<span class="org-comment">% Color extension</span>
|
||||
@ -447,12 +216,12 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgee5bb97" class="outline-2">
|
||||
<h2 id="orgee5bb97"><span class="section-number-2">8</span> Control</h2>
|
||||
<div id="outline-container-orga318f09" class="outline-2">
|
||||
<h2 id="orga318f09"><span class="section-number-2">8</span> Control</h2>
|
||||
<div class="outline-text-2" id="text-8">
|
||||
</div>
|
||||
<div id="outline-container-orgea8451a" class="outline-3">
|
||||
<h3 id="orgea8451a"><span class="section-number-3">8.1</span> Blocks</h3>
|
||||
<div id="outline-container-org5f8db63" class="outline-3">
|
||||
<h3 id="org5f8db63"><span class="section-number-3">8.1</span> Blocks</h3>
|
||||
<div class="outline-text-3" id="text-8-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -469,8 +238,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7ce8263" class="outline-3">
|
||||
<h3 id="org7ce8263"><span class="section-number-3">8.2</span> Branches</h3>
|
||||
<div id="outline-container-org6e2b7de" class="outline-3">
|
||||
<h3 id="org6e2b7de"><span class="section-number-3">8.2</span> Branches</h3>
|
||||
<div class="outline-text-3" id="text-8-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzstyle</span>{branch}=[fill,shape=circle,minimum size=4pt,inner sep=0pt]
|
||||
@ -481,8 +250,8 @@ for the JavaScript code in this tag.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org28a7366" class="outline-3">
|
||||
<h3 id="org28a7366"><span class="section-number-3">8.3</span> Hand Writen Style</h3>
|
||||
<div id="outline-container-orgd36d746" class="outline-3">
|
||||
<h3 id="orgd36d746"><span class="section-number-3">8.3</span> Hand Writen Style</h3>
|
||||
<div class="outline-text-3" id="text-8-3">
|
||||
<p>
|
||||
Usefull for schematic plots
|
||||
@ -494,8 +263,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org71f1934" class="outline-3">
|
||||
<h3 id="org71f1934"><span class="section-number-3">8.4</span> DAC</h3>
|
||||
<div id="outline-container-org2640267" class="outline-3">
|
||||
<h3 id="org2640267"><span class="section-number-3">8.4</span> DAC</h3>
|
||||
<div class="outline-text-3" id="text-8-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -509,8 +278,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3701401" class="outline-3">
|
||||
<h3 id="org3701401"><span class="section-number-3">8.5</span> ADC</h3>
|
||||
<div id="outline-container-orga191a8b" class="outline-3">
|
||||
<h3 id="orga191a8b"><span class="section-number-3">8.5</span> ADC</h3>
|
||||
<div class="outline-text-3" id="text-8-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -525,8 +294,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb647158" class="outline-3">
|
||||
<h3 id="orgb647158"><span class="section-number-3">8.6</span> Gain</h3>
|
||||
<div id="outline-container-orged7cf36" class="outline-3">
|
||||
<h3 id="orged7cf36"><span class="section-number-3">8.6</span> Gain</h3>
|
||||
<div class="outline-text-3" id="text-8-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -564,8 +333,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf9c3aa6" class="outline-3">
|
||||
<h3 id="orgf9c3aa6"><span class="section-number-3">8.7</span> Add / Substract / Divide / Multiply block</h3>
|
||||
<div id="outline-container-org38d8e7d" class="outline-3">
|
||||
<h3 id="org38d8e7d"><span class="section-number-3">8.7</span> Add / Substract / Divide / Multiply block</h3>
|
||||
<div class="outline-text-3" id="text-8-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">% Add block with Circled operations</span>
|
||||
@ -630,12 +399,12 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org29efc5d" class="outline-2">
|
||||
<h2 id="org29efc5d"><span class="section-number-2">9</span> Plots</h2>
|
||||
<div id="outline-container-org7aad8c7" class="outline-2">
|
||||
<h2 id="org7aad8c7"><span class="section-number-2">9</span> Plots</h2>
|
||||
<div class="outline-text-2" id="text-9">
|
||||
</div>
|
||||
<div id="outline-container-org9add0aa" class="outline-3">
|
||||
<h3 id="org9add0aa"><span class="section-number-3">9.1</span> Default line caps</h3>
|
||||
<div id="outline-container-org9e10fa4" class="outline-3">
|
||||
<h3 id="org9e10fa4"><span class="section-number-3">9.1</span> Default line caps</h3>
|
||||
<div class="outline-text-3" id="text-9-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\pgfplotsset</span>{
|
||||
@ -647,8 +416,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge810969" class="outline-3">
|
||||
<h3 id="orge810969"><span class="section-number-3">9.2</span> Grid</h3>
|
||||
<div id="outline-container-org7d05724" class="outline-3">
|
||||
<h3 id="org7d05724"><span class="section-number-3">9.2</span> Grid</h3>
|
||||
<div class="outline-text-3" id="text-9-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\pgfplotsset</span>{grid style={black}}
|
||||
@ -661,8 +430,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1e383fb" class="outline-3">
|
||||
<h3 id="org1e383fb"><span class="section-number-3">9.3</span> Lines</h3>
|
||||
<div id="outline-container-org494eb40" class="outline-3">
|
||||
<h3 id="org494eb40"><span class="section-number-3">9.3</span> Lines</h3>
|
||||
<div class="outline-text-3" id="text-9-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\pgfplotsset</span>{separate axis lines=false} <span class="org-comment">% draw axis as rectangle and not as 4 lines</span>
|
||||
@ -676,8 +445,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5ebbe78" class="outline-3">
|
||||
<h3 id="org5ebbe78"><span class="section-number-3">9.4</span> Ticks</h3>
|
||||
<div id="outline-container-org2fb301b" class="outline-3">
|
||||
<h3 id="org2fb301b"><span class="section-number-3">9.4</span> Ticks</h3>
|
||||
<div class="outline-text-3" id="text-9-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\pgfplotsset</span>{every y tick label/.append style={font=<span class="org-font-latex-sedate">\color</span>{black}}}
|
||||
@ -689,8 +458,8 @@ Usefull for schematic plots
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org999fa62" class="outline-3">
|
||||
<h3 id="org999fa62"><span class="section-number-3">9.5</span> Size</h3>
|
||||
<div id="outline-container-orgdf46af2" class="outline-3">
|
||||
<h3 id="orgdf46af2"><span class="section-number-3">9.5</span> Size</h3>
|
||||
<div class="outline-text-3" id="text-9-5">
|
||||
<p>
|
||||
If <code>scale only axis=false</code> (the default), pgfplots will try to produce the desired width including labels, titles and ticks.
|
||||
@ -702,8 +471,8 @@ If <code>scale only axis=false</code> (the default), pgfplots will try to produc
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org85d084a" class="outline-3">
|
||||
<h3 id="org85d084a"><span class="section-number-3">9.6</span> Label</h3>
|
||||
<div id="outline-container-orgb5d9397" class="outline-3">
|
||||
<h3 id="orgb5d9397"><span class="section-number-3">9.6</span> Label</h3>
|
||||
<div class="outline-text-3" id="text-9-6">
|
||||
<p>
|
||||
Used to align all of ylabel of one figure.
|
||||
@ -715,8 +484,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org29946e8" class="outline-3">
|
||||
<h3 id="org29946e8"><span class="section-number-3">9.7</span> Legend</h3>
|
||||
<div id="outline-container-org95997d3" class="outline-3">
|
||||
<h3 id="org95997d3"><span class="section-number-3">9.7</span> Legend</h3>
|
||||
<div class="outline-text-3" id="text-9-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-comment-delimiter">% </span><span class="org-comment">https://tex.stackexchange.com/questions/54794/using-a-pgfplots-style-legend-in-a-plain-old-tikzpicture#54834</span>
|
||||
@ -754,12 +523,12 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org407f0ee" class="outline-2">
|
||||
<h2 id="org407f0ee"><span class="section-number-2">10</span> Mechanical</h2>
|
||||
<div id="outline-container-org8620c5d" class="outline-2">
|
||||
<h2 id="org8620c5d"><span class="section-number-2">10</span> Mechanical</h2>
|
||||
<div class="outline-text-2" id="text-10">
|
||||
</div>
|
||||
<div id="outline-container-orgffe197b" class="outline-3">
|
||||
<h3 id="orgffe197b"><span class="section-number-3">10.1</span> Spring</h3>
|
||||
<div id="outline-container-org4fad7e8" class="outline-3">
|
||||
<h3 id="org4fad7e8"><span class="section-number-3">10.1</span> Spring</h3>
|
||||
<div class="outline-text-3" id="text-10-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -780,8 +549,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1f14fa9" class="outline-3">
|
||||
<h3 id="org1f14fa9"><span class="section-number-3">10.2</span> Coil</h3>
|
||||
<div id="outline-container-orgda1e1f4" class="outline-3">
|
||||
<h3 id="orgda1e1f4"><span class="section-number-3">10.2</span> Coil</h3>
|
||||
<div class="outline-text-3" id="text-10-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -802,8 +571,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1622011" class="outline-3">
|
||||
<h3 id="org1622011"><span class="section-number-3">10.3</span> Damper</h3>
|
||||
<div id="outline-container-org2d2c2fe" class="outline-3">
|
||||
<h3 id="org2d2c2fe"><span class="section-number-3">10.3</span> Damper</h3>
|
||||
<div class="outline-text-3" id="text-10-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -830,8 +599,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5b48f92" class="outline-3">
|
||||
<h3 id="org5b48f92"><span class="section-number-3">10.4</span> Actuator</h3>
|
||||
<div id="outline-container-orgbd3233c" class="outline-3">
|
||||
<h3 id="orgbd3233c"><span class="section-number-3">10.4</span> Actuator</h3>
|
||||
<div class="outline-text-3" id="text-10-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -861,8 +630,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf654c5a" class="outline-3">
|
||||
<h3 id="orgf654c5a"><span class="section-number-3">10.5</span> Ground</h3>
|
||||
<div id="outline-container-orgd0c4527" class="outline-3">
|
||||
<h3 id="orgd0c4527"><span class="section-number-3">10.5</span> Ground</h3>
|
||||
<div class="outline-text-3" id="text-10-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -884,8 +653,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6be18b5" class="outline-3">
|
||||
<h3 id="org6be18b5"><span class="section-number-3">10.6</span> Force Sensor</h3>
|
||||
<div id="outline-container-org4c41ca9" class="outline-3">
|
||||
<h3 id="org4c41ca9"><span class="section-number-3">10.6</span> Force Sensor</h3>
|
||||
<div class="outline-text-3" id="text-10-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -914,8 +683,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3655499" class="outline-3">
|
||||
<h3 id="org3655499"><span class="section-number-3">10.7</span> Inertial Sensor</h3>
|
||||
<div id="outline-container-org4699edc" class="outline-3">
|
||||
<h3 id="org4699edc"><span class="section-number-3">10.7</span> Inertial Sensor</h3>
|
||||
<div class="outline-text-3" id="text-10-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -943,8 +712,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2072839" class="outline-3">
|
||||
<h3 id="org2072839"><span class="section-number-3">10.8</span> Cross</h3>
|
||||
<div id="outline-container-orgfc14769" class="outline-3">
|
||||
<h3 id="orgfc14769"><span class="section-number-3">10.8</span> Cross</h3>
|
||||
<div class="outline-text-3" id="text-10-8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzstyle</span>{cross}=[path picture={
|
||||
@ -957,8 +726,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org551a108" class="outline-3">
|
||||
<h3 id="org551a108"><span class="section-number-3">10.9</span> Piezoelectric actuator</h3>
|
||||
<div id="outline-container-org7593ed1" class="outline-3">
|
||||
<h3 id="org7593ed1"><span class="section-number-3">10.9</span> Piezoelectric actuator</h3>
|
||||
<div class="outline-text-3" id="text-10-9">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -986,8 +755,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9769616" class="outline-3">
|
||||
<h3 id="org9769616"><span class="section-number-3">10.10</span> Voice coil</h3>
|
||||
<div id="outline-container-orgebe134c" class="outline-3">
|
||||
<h3 id="orgebe134c"><span class="section-number-3">10.10</span> Voice coil</h3>
|
||||
<div class="outline-text-3" id="text-10-10">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate">\def\voicecoil</span>#1#2#3{
|
||||
@ -1058,8 +827,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd9f02f9" class="outline-2">
|
||||
<h2 id="orgd9f02f9"><span class="section-number-2">11</span> Optics</h2>
|
||||
<div id="outline-container-orgd1f3c70" class="outline-2">
|
||||
<h2 id="orgd1f3c70"><span class="section-number-2">11</span> Optics</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">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -1087,8 +856,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb27c58d" class="outline-2">
|
||||
<h2 id="orgb27c58d"><span class="section-number-2">12</span> Misc</h2>
|
||||
<div id="outline-container-orgbd5a2ff" class="outline-2">
|
||||
<h2 id="orgbd5a2ff"><span class="section-number-2">12</span> Misc</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">\tikzset</span>{<span class="org-comment">%</span>
|
||||
@ -1105,8 +874,8 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org17bab25" class="outline-2">
|
||||
<h2 id="org17bab25"><span class="section-number-2">13</span> More Defaults specific to this paper</h2>
|
||||
<div id="outline-container-org27f9f50" class="outline-2">
|
||||
<h2 id="org27f9f50"><span class="section-number-2">13</span> More Defaults specific to this paper</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">\tikzset</span>{block/.default={0.8cm}{0.8cm}}
|
||||
@ -1119,8 +888,7 @@ Used to align all of ylabel of one figure.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-11-05 mar. 17:27</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 10:44</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -1,11 +1,10 @@
|
||||
#+TITLE: LaTeX Configuration for Tikz Figures
|
||||
:DRAWER:
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:latex+ :tangle config.tex
|
||||
#+PROPERTY: header-args:latex+ :exports code
|
||||
|
||||
434
tikz/index.html
434
tikz/index.html
@ -3,270 +3,21 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2019-09-26 jeu. 17:46 -->
|
||||
<!-- 2020-11-12 jeu. 10:44 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Complementary Filters Shaping Using \(\mathcal{H}_\infty\) Synthesis - Tikz Figures</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
<script src="../js/jquery.min.js"></script>
|
||||
<script src="../js/bootstrap.min.js"></script>
|
||||
<script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="../js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2019 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
};
|
||||
</script>
|
||||
<script type="text/x-mathjax-config">
|
||||
MathJax.Hub.Config({
|
||||
displayAlign: "center",
|
||||
displayIndent: "0em",
|
||||
|
||||
"HTML-CSS": { scale: 100,
|
||||
linebreaks: { automatic: "false" },
|
||||
webFont: "TeX"
|
||||
},
|
||||
SVG: {scale: 100,
|
||||
linebreaks: { automatic: "false" },
|
||||
font: "TeX"},
|
||||
NativeMML: {scale: 100},
|
||||
TeX: { equationNumbers: {autoNumber: "AMS"},
|
||||
MultLineWidth: "85%",
|
||||
TagSide: "right",
|
||||
TagIndent: ".8em"
|
||||
}
|
||||
});
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-AMS_HTML"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@ -279,36 +30,35 @@ for the JavaScript code in this tag.
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orge7053aa">1. Fig 1: Sensor Fusion Architecture</a></li>
|
||||
<li><a href="#org39b5d0c">2. Fig 2: Sensor fusion architecture with sensor dynamics uncertainty</a></li>
|
||||
<li><a href="#orgfc9382d">3. Fig 3: Uncertainty set of the super sensor dynamics</a></li>
|
||||
<li><a href="#orgb356b70">4. Fig 4: Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
|
||||
<li><a href="#orgdeaeaf4">5. Fig 5: Magnitude of a weighting function generated using the proposed formula</a></li>
|
||||
<li><a href="#org8ce545c">6. Fig 6: Frequency response of the weighting functions and complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#orgac21d24">7. Fig 7: Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
|
||||
<li><a href="#org9688457">8. Fig 8: Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#org8d6867c">9. Fig 9: Specifications and weighting functions magnitude used for \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#orgb6ae2f5">10. Fig 10: Comparison of the FIR filters (solid) with the filters obtained with \(\mathcal{H}_\infty\) synthesis (dashed)</a></li>
|
||||
<li><a href="#org9059d4e">1. Fig 1: Sensor Fusion Architecture</a></li>
|
||||
<li><a href="#orgf8987c9">2. Fig 2: Sensor fusion architecture with sensor dynamics uncertainty</a></li>
|
||||
<li><a href="#org1801a90">3. Fig 3: Uncertainty set of the super sensor dynamics</a></li>
|
||||
<li><a href="#org355bde0">4. Fig 4: Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</a></li>
|
||||
<li><a href="#org879ecb3">5. Fig 5: Magnitude of a weighting function generated using the proposed formula</a></li>
|
||||
<li><a href="#org2b1f7ae">6. Fig 6: Frequency response of the weighting functions and complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#org84a7e33">7. Fig 7: Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</a></li>
|
||||
<li><a href="#org20bfce3">8. Fig 8: Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#orgb08c277">9. Fig 9: Specifications and weighting functions magnitude used for \(\mathcal{H}_\infty\) synthesis</a></li>
|
||||
<li><a href="#org74b4762">10. Fig 10: Comparison of the FIR filters (solid) with the filters obtained with \(\mathcal{H}_\infty\) synthesis (dashed)</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Configuration file is accessible <a href="config.html">here</a>.
|
||||
</p>
|
||||
|
||||
<div id="outline-container-orge7053aa" class="outline-2">
|
||||
<h2 id="orge7053aa"><span class="section-number-2">1</span> Fig 1: Sensor Fusion Architecture</h2>
|
||||
<div id="outline-container-org9059d4e" class="outline-2">
|
||||
<h2 id="org9059d4e"><span class="section-number-2">1</span> Fig 1: Sensor Fusion Architecture</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"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above right=0.5 and 0.5 of x](G1){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below right=0.5 and 0.5 of x](G2){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above right=0.5 and 0.5 of x](G1){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below right=0.5 and 0.5 of x](G2){<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=0.8 of G1](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=0.8 of G2](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.8 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.8 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.8 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.8 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=5 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-0.7, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x.center);
|
||||
@ -316,8 +66,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (x.center) |- (G2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G1.east) -- (add1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (G2.east) -- (add2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add1.north) -- ++(0, 0.8)node[below right](n1){<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add2.north) -- ++(0, 0.8)node[below right](n2){<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add1.north) -- ++(0, 0.8)node[below right](n1){<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (add2.north) -- ++(0, 0.8)node[below right](n2){<span class="org-font-latex-math">$n</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add1.east) -- (H1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (add2.east) -- (H2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H1) -| (add.north);
|
||||
@ -338,7 +88,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc3d769f" class="figure">
|
||||
<div id="org9c10944" class="figure">
|
||||
<p><img src="figs/fusion_super_sensor.png" alt="fusion_super_sensor.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Sensor Fusion Architecture (<a href="./figs/fusion_super_sensor.png">png</a>, <a href="./figs/fusion_super_sensor.pdf">pdf</a>, <a href="./figs/fusion_super_sensor.tex">tex</a>).</p>
|
||||
@ -346,20 +96,20 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org39b5d0c" class="outline-2">
|
||||
<h2 id="org39b5d0c"><span class="section-number-2">2</span> Fig 2: Sensor fusion architecture with sensor dynamics uncertainty</h2>
|
||||
<div id="outline-container-orgf8987c9" class="outline-2">
|
||||
<h2 id="orgf8987c9"><span class="section-number-2">2</span> Fig 2: Sensor fusion architecture with sensor dynamics uncertainty</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>}
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] (x) at (0, 0);
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, above right=0.8 and 4 of x](add1){};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, below right=0.8 and 4 of x](add2){};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left=0.2 and 0.1 of add1](delta1){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left=0.2 and 0.1 of add2](delta2){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=0.5 of delta1](W1){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=0.5 of delta2](W2){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.5 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.5 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left=0.2 and 0.1 of add1](delta1){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, above left=0.2 and 0.1 of add2](delta2){<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=0.5 of delta1](W1){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=0.5 of delta2](W2){<span class="org-font-latex-math">$w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.5 of add1](H1){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, right=0.5 of add2](H2){<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb, right=6 of x](add){};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[] (<span class="org-font-latex-math">$(x)+(-0.7, 0)$</span>) node[above right]{<span class="org-font-latex-math">$x$</span>} -- (x.center);
|
||||
@ -388,7 +138,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgde2b8c0" class="figure">
|
||||
<div id="orgfc65b94" class="figure">
|
||||
<p><img src="figs/sensor_fusion_dynamic_uncertainty.png" alt="sensor_fusion_dynamic_uncertainty.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Sensor fusion architecture with sensor dynamics uncertainty (<a href="./figs/sensor_fusion_dynamic_uncertainty.png">png</a>, <a href="./figs/sensor_fusion_dynamic_uncertainty.pdf">pdf</a>, <a href="./figs/sensor_fusion_dynamic_uncertainty.tex">tex</a>).</p>
|
||||
@ -396,8 +146,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfc9382d" class="outline-2">
|
||||
<h2 id="orgfc9382d"><span class="section-number-2">3</span> Fig 3: Uncertainty set of the super sensor dynamics</h2>
|
||||
<div id="outline-container-org1801a90" class="outline-2">
|
||||
<h2 id="org1801a90"><span class="section-number-2">3</span> Fig 3: Uncertainty set of the super sensor dynamics</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>}
|
||||
@ -414,25 +164,20 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate">\draw</span>[<->, dashed] (0, 0) node[branch]{} -- coordinate[midway](r1) ++(45:1.0);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<->, dashed] (135:1.0)node[branch]{} -- coordinate[midway](r2) ++(90:0.8);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l1) at (2, 1.5) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math"> H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">|$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l1) at (2, 1.5) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1 H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1|$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->, dashed, out=-90, in=0] (l1.south) to (r1);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l2) at (0, 2.0) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math"> H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">|$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->, dashed, out=-90, in=0] (l2.south) to (r2);
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l2) at (-2.5, 1.5) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2 H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2|$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->, dashed, out=0, in=-180] (l2.east) to (r2);
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[<->, dashed] (0, 0) -- coordinate[near end](r3) ++(200:1.8);
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l3) at (-2.5, -1.5) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math"> H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">| + |w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math"> H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">|$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[] (l3) at (-2.5, -1.5) {<span class="org-font-latex-math">$|w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1 H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1| + |w</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2 H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2|$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->, dashed, out=90, in=-90] (l3.north) to (r3);
|
||||
|
||||
<span class="org-comment">% % Uncertainty Regions</span>
|
||||
<span class="org-comment">% </span><span class="org-font-latex-sedate"><span class="org-comment">\node</span></span><span class="org-comment">[below left] at (45:1.8) {$</span><span class="org-font-latex-sedate"><span class="org-comment">\Pi</span></span><span class="org-comment">_{</span><span class="org-font-latex-sedate"><span class="org-comment">\text</span></span><span class="org-comment">{ss}}$};</span>
|
||||
<span class="org-comment">% </span><span class="org-font-latex-sedate"><span class="org-comment">\node</span></span><span class="org-comment">[above left] at (-45:1.0) {$</span><span class="org-font-latex-sedate"><span class="org-comment">\Pi</span></span><span class="org-comment">_{1}$};</span>
|
||||
<span class="org-comment">% </span><span class="org-font-latex-sedate"><span class="org-comment">\node</span></span><span class="org-comment">[below] at ($(135:1.0)+(0, 0.8)$) {$</span><span class="org-font-latex-sedate"><span class="org-comment">\Pi</span></span><span class="org-comment">_{2}$};</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">scope</span>}
|
||||
|
||||
<span class="org-comment">% Real and Imaginary Axis</span>
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (-0.5, 0) -- (7.0, 0) node[below left]{Re};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, -1.8) -- (0, 2.0) node[below left]{Im};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, -1.7) -- (0, 1.7) node[below left]{Im};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=2);
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed] (1, 0) arc (0:28:1) node[midway, right]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\Delta</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\phi</span></span><span class="org-font-latex-math">$</span>};
|
||||
@ -441,7 +186,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgf3182a4" class="figure">
|
||||
<div id="orga1a6d2e" class="figure">
|
||||
<p><img src="figs/uncertainty_set_super_sensor.png" alt="uncertainty_set_super_sensor.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Uncertainty region of the super sensor dynamics in the complex plane (solid circle), of the sensor 1 (dotted circle) and of the sensor 2 (dashed circle) (<a href="./figs/uncertainty_set_super_sensor.png">png</a>, <a href="./figs/uncertainty_set_super_sensor.pdf">pdf</a>, <a href="./figs/uncertainty_set_super_sensor.tex">tex</a>).</p>
|
||||
@ -449,8 +194,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb356b70" class="outline-2">
|
||||
<h2 id="orgb356b70"><span class="section-number-2">4</span> Fig 4: Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</h2>
|
||||
<div id="outline-container-org355bde0" class="outline-2">
|
||||
<h2 id="org355bde0"><span class="section-number-2">4</span> Fig 4: Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters</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"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
@ -464,25 +209,25 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (output2) at (<span class="org-font-latex-math">$(P.south east)!0.35!(P.north east) + ( 0.7, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + ( 0.7, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output1] (W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output2] (W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output1] (W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output2] (W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of W1] (sub) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=0.3 of P] (H2) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=0.3 of P] (H2) {<span class="org-font-latex-math">$H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputw) node[above right]{<span class="org-font-latex-math">$w$</span>} -- (sub.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (H2.west) -| (<span class="org-font-latex-math">$(inputu)+(0.35, 0)$</span>) node[above]{<span class="org-font-latex-math">$u$</span>} -- (W2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputu-|sub) node[branch]{} -- (sub.south);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub.east) -- (W1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (<span class="org-font-latex-math">$(sub.west)+(-0.6, 0)$</span>) node[branch]{} |- (<span class="org-font-latex-math">$(outputv)+(-0.35, 0)$</span>) node[above]{<span class="org-font-latex-math">$v$</span>} |- (H2.east);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (output1)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (output2)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (output1)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (output2)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3cb8226" class="figure">
|
||||
<div id="org903a05c" class="figure">
|
||||
<p><img src="figs/h_infinity_robust_fusion.png" alt="h_infinity_robust_fusion.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters (<a href="./figs/h_infinity_robust_fusion.png">png</a>, <a href="./figs/h_infinity_robust_fusion.pdf">pdf</a>, <a href="./figs/h_infinity_robust_fusion.tex">tex</a>).</p>
|
||||
@ -490,8 +235,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdeaeaf4" class="outline-2">
|
||||
<h2 id="orgdeaeaf4"><span class="section-number-2">5</span> Fig 5: Magnitude of a weighting function generated using the proposed formula</h2>
|
||||
<div id="outline-container-org879ecb3" class="outline-2">
|
||||
<h2 id="org879ecb3"><span class="section-number-2">5</span> Fig 5: Magnitude of a weighting function generated using the proposed formula</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">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fwidth</span></span>{<span class="org-variable-name">6.5cm</span>}
|
||||
@ -545,7 +290,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
10 1<span class="org-font-latex-warning">\\</span>
|
||||
};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[below] at (2, 10) {<span class="org-font-latex-math">$G_\infty$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[below] at (2, 10) {<span class="org-font-latex-math">$G_</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\infty</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (2, 0.001) {<span class="org-font-latex-math">$G_0$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[branch] at (10, 2){};
|
||||
@ -560,7 +305,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orga3a1174" class="figure">
|
||||
<div id="org1aeddba" class="figure">
|
||||
<p><img src="figs/weight_formula.png" alt="weight_formula.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Magnitude of a weighting function generated using the proposed formula (<a href="./figs/weight_formula.png">png</a>, <a href="./figs/weight_formula.pdf">pdf</a>, <a href="./figs/weight_formula.tex">tex</a>).</p>
|
||||
@ -568,8 +313,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8ce545c" class="outline-2">
|
||||
<h2 id="org8ce545c"><span class="section-number-2">6</span> Fig 6: Frequency response of the weighting functions and complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</h2>
|
||||
<div id="outline-container-org2b1f7ae" class="outline-2">
|
||||
<h2 id="org2b1f7ae"><span class="section-number-2">6</span> Fig 6: Frequency response of the weighting functions and complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</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">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fwidth</span></span>{<span class="org-variable-name">6.5cm</span>}
|
||||
@ -579,7 +324,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">axis</span>}[<span class="org-comment">%</span>
|
||||
width=1.0<span class="org-font-latex-sedate">\fwidth</span>,
|
||||
height=0.5<span class="org-font-latex-sedate">\fheight</span>,
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.5<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.47<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
scale only axis,
|
||||
xmode=log,
|
||||
xmin=0.1,
|
||||
@ -643,7 +388,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org49f0f1e" class="figure">
|
||||
<div id="orgd2fb3fa" class="figure">
|
||||
<p><img src="figs/hinf_synthesis_results.png" alt="hinf_synthesis_results.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Frequency response of the weighting functions and complementary filters obtained using \(\mathcal{H}_\infty\) synthesis (<a href="./figs/hinf_synthesis_results.png">png</a>, <a href="./figs/hinf_synthesis_results.pdf">pdf</a>, <a href="./figs/hinf_synthesis_results.tex">tex</a>).</p>
|
||||
@ -651,8 +396,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgac21d24" class="outline-2">
|
||||
<h2 id="orgac21d24"><span class="section-number-2">7</span> Fig 7: Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</h2>
|
||||
<div id="outline-container-org84a7e33" class="outline-2">
|
||||
<h2 id="org84a7e33"><span class="section-number-2">7</span> Fig 7: Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters</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"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
@ -667,13 +412,13 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (output3) at (<span class="org-font-latex-math">$(P.south east)!0.3!(P.north east) + (0.7, 0)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.1!(P.north east) + (0.7, 0)$</span>);
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output1] (W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output2] (W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output3] (W3){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_3</span></span><span class="org-font-latex-math">(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output1] (W1){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output2] (W2){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, left=1.4 of output3] (W3){<span class="org-font-latex-math">$W</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">3(s)$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of W1] (sub1) {};
|
||||
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, left=of sub1] (sub2) {};
|
||||
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=0.3 of P] (H) {<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-keyword"><span class="org-font-latex-math">\begin</span></span></span><span class="org-font-latex-math">{</span><span class="org-function-name"><span class="org-font-latex-math">bmatrix</span></span><span class="org-font-latex-math">}H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">(s) \\ H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_3</span></span><span class="org-font-latex-math">(s)</span><span class="org-font-latex-sedate"><span class="org-keyword"><span class="org-font-latex-math">\end</span></span></span><span class="org-font-latex-math">{</span><span class="org-function-name"><span class="org-font-latex-math">bmatrix</span></span><span class="org-font-latex-math">}$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[block, below=0.3 of P] (H) {<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-keyword"><span class="org-font-latex-math">\begin</span></span></span><span class="org-font-latex-math">{</span><span class="org-function-name"><span class="org-font-latex-math">bmatrix</span></span><span class="org-font-latex-math">}H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2(s) \\ H</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">3(s)</span><span class="org-font-latex-sedate"><span class="org-keyword"><span class="org-font-latex-math">\end</span></span></span><span class="org-font-latex-math">{</span><span class="org-function-name"><span class="org-font-latex-math">bmatrix</span></span><span class="org-font-latex-math">}$</span>};
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (inputw) node[above right](w){<span class="org-font-latex-math">$w$</span>} -- (sub2.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W3-|sub1)node[branch]{} -- (sub1.south);
|
||||
@ -684,18 +429,18 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub2.east) -- (sub1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (sub1.east) -- (W1.west);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (output1)node[above left](z){<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (output2)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W3.east) -- (output3)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_3</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (W2-|w){<span class="org-font-latex-math">$u</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_1</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (W3-|w){<span class="org-font-latex-math">$u</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_2</span></span><span class="org-font-latex-math">$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W1.east) -- (output1)node[above left](z){<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W2.east) -- (output2)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (W3.east) -- (output3)node[above left]{<span class="org-font-latex-math">$z</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">3$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (W2-|w){<span class="org-font-latex-math">$u</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">1$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (W3-|w){<span class="org-font-latex-math">$u</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">2$</span>};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (outputv-|z){<span class="org-font-latex-math">$v$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgd2b8673" class="figure">
|
||||
<div id="orgb697644" class="figure">
|
||||
<p><img src="figs/comp_filter_three_hinf.png" alt="comp_filter_three_hinf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters (<a href="./figs/comp_filter_three_hinf.png">png</a>, <a href="./figs/comp_filter_three_hinf.pdf">pdf</a>, <a href="./figs/comp_filter_three_hinf.tex">tex</a>).</p>
|
||||
@ -703,8 +448,8 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9688457" class="outline-2">
|
||||
<h2 id="org9688457"><span class="section-number-2">8</span> Fig 8: Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</h2>
|
||||
<div id="outline-container-org20bfce3" class="outline-2">
|
||||
<h2 id="org20bfce3"><span class="section-number-2">8</span> Fig 8: Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis</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"><span class="org-keyword">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fwidth</span></span>{<span class="org-variable-name">6.5cm</span>}
|
||||
@ -714,7 +459,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">axis</span>}[<span class="org-comment">%</span>
|
||||
width=1.0<span class="org-font-latex-sedate">\fwidth</span>,
|
||||
height=0.55<span class="org-font-latex-sedate">\fheight</span>,
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.45<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.42<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
scale only axis,
|
||||
xmode=log,
|
||||
xmin=0.1,
|
||||
@ -791,7 +536,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org044b17c" class="figure">
|
||||
<div id="orgdaa24c8" class="figure">
|
||||
<p><img src="figs/hinf_three_synthesis_results.png" alt="hinf_three_synthesis_results.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis (<a href="./figs/hinf_three_synthesis_results.png">png</a>, <a href="./figs/hinf_three_synthesis_results.pdf">pdf</a>, <a href="./figs/hinf_three_synthesis_results.tex">tex</a>).</p>
|
||||
@ -799,12 +544,12 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8d6867c" class="outline-2">
|
||||
<h2 id="org8d6867c"><span class="section-number-2">9</span> Fig 9: Specifications and weighting functions magnitude used for \(\mathcal{H}_\infty\) synthesis</h2>
|
||||
<div id="outline-container-orgb08c277" class="outline-2">
|
||||
<h2 id="orgb08c277"><span class="section-number-2">9</span> Fig 9: Specifications and weighting functions magnitude used for \(\mathcal{H}_\infty\) synthesis</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">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fwidth</span></span>{<span class="org-variable-name">6.5cm</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fheight</span></span>{<span class="org-variable-name">4cm</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fheight</span></span>{<span class="org-variable-name">3.2cm</span>}
|
||||
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">axis</span>}[<span class="org-comment">%</span>
|
||||
@ -873,7 +618,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgb9647cd" class="figure">
|
||||
<div id="org2ba2505" class="figure">
|
||||
<p><img src="figs/ligo_weights.png" alt="ligo_weights.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Specifications and weighting functions magnitude used for \(\mathcal{H}_\infty\) synthesis (<a href="./figs/ligo_weights.png">png</a>, <a href="./figs/ligo_weights.pdf">pdf</a>, <a href="./figs/ligo_weights.tex">tex</a>).</p>
|
||||
@ -881,18 +626,18 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb6ae2f5" class="outline-2">
|
||||
<h2 id="orgb6ae2f5"><span class="section-number-2">10</span> Fig 10: Comparison of the FIR filters (solid) with the filters obtained with \(\mathcal{H}_\infty\) synthesis (dashed)</h2>
|
||||
<div id="outline-container-org74b4762" class="outline-2">
|
||||
<h2 id="org74b4762"><span class="section-number-2">10</span> Fig 10: Comparison of the FIR filters (solid) with the filters obtained with \(\mathcal{H}_\infty\) synthesis (dashed)</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">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fwidth</span></span>{<span class="org-variable-name">6.5cm</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fheight</span></span>{<span class="org-variable-name">7cm</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\setlength</span></span><span class="org-font-latex-sedate"><span class="org-variable-name">\fheight</span></span>{<span class="org-variable-name">6.8cm</span>}
|
||||
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">axis</span>}[<span class="org-comment">%</span>
|
||||
width=1.0<span class="org-font-latex-sedate">\fwidth</span>,
|
||||
height=0.60<span class="org-font-latex-sedate">\fheight</span>,
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.35<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
at={(0.0<span class="org-font-latex-sedate">\fwidth</span>, 0.32<span class="org-font-latex-sedate">\fheight</span>)},
|
||||
scale only axis,
|
||||
xmode=log,
|
||||
xmin=0.001,
|
||||
@ -912,13 +657,13 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
]
|
||||
<span class="org-font-latex-sedate">\addplot</span> [color=mycolor1, line width=1.5pt]
|
||||
table [x=freqs, y=Hhm, col sep=comma] {/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/matlab/matcomp_ligo_hinf.csv};
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_H(s)$</span> - <span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\mathcal</span></span><span class="org-font-latex-math">{H}_\infty$</span>}
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_H(s)$</span> - <span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\mathcal</span></span><span class="org-font-latex-math">{H}_</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\infty</span></span><span class="org-font-latex-math">$</span>}
|
||||
<span class="org-font-latex-sedate">\addplot</span> [color=mycolor1, dashed, line width=1.5pt]
|
||||
table [x=freqs, y=Hhm, col sep=comma] {/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/matlab/matcomp_ligo_fir.csv};
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_H(s)$</span> - FIR}
|
||||
<span class="org-font-latex-sedate">\addplot</span> [color=mycolor2, line width=1.5pt]
|
||||
table [x=freqs, y=Hlm, col sep=comma] {/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/matlab/matcomp_ligo_hinf.csv};
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_L(s)$</span> - <span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\mathcal</span></span><span class="org-font-latex-math">{H}_\infty$</span>}
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_L(s)$</span> - <span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\mathcal</span></span><span class="org-font-latex-math">{H}_</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\infty</span></span><span class="org-font-latex-math">$</span>}
|
||||
<span class="org-font-latex-sedate">\addplot</span> [color=mycolor2, dashed, line width=1.5pt]
|
||||
table [x=freqs, y=Hlm, col sep=comma] {/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/matlab/matcomp_ligo_fir.csv};
|
||||
<span class="org-font-latex-sedate">\addlegendentry</span>{<span class="org-font-latex-math">$H_L(s)$</span> - FIR}
|
||||
@ -955,7 +700,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc99b299" class="figure">
|
||||
<div id="org6bce6a7" class="figure">
|
||||
<p><img src="figs/comp_fir_ligo_hinf.png" alt="comp_fir_ligo_hinf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Comparison of the FIR filters (solid) with the filters obtained with \(\mathcal{H}_\infty\) synthesis (dashed) (<a href="./figs/comp_fir_ligo_hinf.png">png</a>, <a href="./figs/comp_fir_ligo_hinf.pdf">pdf</a>, <a href="./figs/comp_fir_ligo_hinf.tex">tex</a>).</p>
|
||||
@ -965,8 +710,7 @@ Configuration file is accessible <a href="config.html">here</a>.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-09-26 jeu. 17:46</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 10:44</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -3,12 +3,8 @@
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/tikz/}{config.tex}")
|
||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||
|
||||
Loading…
Reference in New Issue
Block a user