Update link to journal and matlab scripts
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@@ -213,17 +213,17 @@ Configuration file is accessible [[file:config.org][here]].
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\node[addb] (addu) at ($(delta1.east|-input) + (0.4, 0)$) {};
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\node[addb, right=0.4 of addu] (addn) {};
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\draw[->] ($(input)+(-0.7, 0)$) node[above right]{$x$} -- (addu);
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\draw[->] ($(input)+(-0.8, 0)$) node[above right]{$x$} -- (addu);
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\draw[->] (input.center) |- (W1.west);
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\draw[->] (W1.east) -- (delta1.west);
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\draw[->] (delta1.east) -| (addu.north);
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\draw[->] (addu.east) -- (addn.west);
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\draw[<-] (addn.north) -- ++(0, 0.7)node[below right](n1){$n_1$};
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\draw[<-] (addn.north) -- ++(0, 0.6)node[below right](n1){$n_1$};
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\draw[->] (addn.east) -- ++(0.9, 0) node[above left]{$\hat{x}_1$};
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\begin{scope}[on background layer]
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\node[fit={(input.west |- addu.south) ($(delta1.north -| addn.east) + (0.1, 0.4)$)}, fill=black!10!white, draw, inner sep=6pt] (sensor1cal) {};
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\node[below] at (sensor1cal.north) {Normalized Sensor};
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\node[fit={(input.west |- addu.south) ($(delta1.north -| addn.east) + (0.1, 0)$)}, fill=black!10!white, draw, inner sep=6pt] (sensor1cal) {};
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\node[below left, align=right] at (sensor1cal.north east) {{\tiny Normalized}\\[-0.5em]{\tiny sensor}};
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\end{scope}
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\end{tikzpicture}
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#+end_src
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@@ -423,19 +423,19 @@ Configuration file is accessible [[file:config.org][here]].
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#+RESULTS:
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[[file:figs/ligo_super_sensor_architecture.png]]
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* Feedback Loop Sensor Fusion Architecture
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* Closed-Loop Complementary Filters
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#+begin_src latex :file feedback_sensor_fusion.pdf :tangle figs/feedback_sensor_fusion.tex
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\begin{tikzpicture}
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\node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
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\node[block, right=1 of addfb] (L){$L$};
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\node[block, right=1 of addfb] (L){$L(s)$};
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\node[addb={+}{}{}{}{}, right=1 of L] (adddy){};
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\draw[<-] (addfb.west) -- ++(-1, 0) node[above right]{$\hat{x}_1$};
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\draw[<-] (addfb.west) -- ++(-1, 0) node[above right]{$\hat{x}_2$};
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\draw[->] (addfb.east) -- (L.west);
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\draw[->] (L.east) -- (adddy.west);
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\draw[->] (adddy.east) -- ++(1.4, 0) node[above left]{$\hat{x}$};
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\draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) coordinate(botc) -| (addfb.south);
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\draw[<-] (adddy.north) -- ++(0, 1) node[below right]{$\hat{x}_2$};
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\draw[<-] (adddy.north) -- ++(0, 1) node[below right]{$\hat{x}_1$};
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\begin{scope}[on background layer]
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\node[fit={(L.north-|addfb.west) (botc)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {};
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@@ -445,25 +445,61 @@ Configuration file is accessible [[file:config.org][here]].
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#+end_src
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#+name: fig:feedback_sensor_fusion
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#+caption: ([[./figs/feedback_sensor_fusion.png][png]], [[./figs/feedback_sensor_fusion.pdf][pdf]], [[./figs/feedback_sensor_fusion.tex][tex]]).
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#+caption: "Closed-Loop" complementary filters ([[./figs/feedback_sensor_fusion.png][png]], [[./figs/feedback_sensor_fusion.pdf][pdf]], [[./figs/feedback_sensor_fusion.tex][tex]]).
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#+RESULTS:
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[[file:figs/feedback_sensor_fusion.png]]
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* Feedback Loop Sensor Fusion Architecture
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* Closed-Loop Fusion Architecture
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#+begin_src latex :file feedback_sensor_fusion_arch.pdf :tangle figs/feedback_sensor_fusion_arch.tex
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\begin{tikzpicture}
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\node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
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\node[block, right=1 of addfb] (L){$L(s)$};
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\node[addb={+}{}{}{}{}, right=1 of L] (adddy){};
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\node[block, left=1.2 of addfb] (sensor2){Sensor 2};
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\node[block, above=0.4 of sensor2] (sensor1){Sensor 1};
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\node[branch, left=0.6 of sensor2] (x){};
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\draw[->] (addfb.east) -- (L.west);
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\draw[->] (L.east) -- (adddy.west);
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\draw[->] (adddy.east) -- ++(1.4, 0) node[above left]{$\hat{x}$};
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\draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) coordinate(botc) -| (addfb.south);
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\draw[->] (x.center) |- (sensor1.west);
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\draw[->] ($(x)-(0.8,0)$) node[above right]{$x$} -- (sensor2.west);
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\draw[->] (sensor2.east)node[above right=0 and 0.25]{$\hat{x}_2$} -- (addfb.west);
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\draw[->] (sensor1.east)node[above right=0 and 0.25]{$\hat{x}_1$} -| (adddy.north);
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\begin{scope}[on background layer]
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\node[fit={(x|-sensor1.north) (botc)}, fill=black!10!white, draw, inner sep=9pt] (supersensor) {};
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\node[fit={(sensor1.north-|addfb.west) (botc)}, fill=black!20!white, draw, inner sep=6pt] (feedbackfilter) {};
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\node[fit={(sensor2.west|-botc) (sensor1.north east)}, fill=black!20!white, draw, inner sep=6pt] (sensors) {};
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\node[above, align=center] at (sensors.south) {{\tiny Normalized}\\[-0.5em]{\tiny sensors}};
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\node[below, align=center] at (feedbackfilter.north) {{\tiny "Closed-Loop"}\\[-0.5em]{\tiny complementary filters}};
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% \node[above, align=center] at (supersensor.north) {Super Sensor};
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\end{scope}
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\end{tikzpicture}
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#+end_src
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#+name: fig:feedback_sensor_fusion_arch
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#+caption: ([[./figs/feedback_sensor_fusion_arch.png][png]], [[./figs/feedback_sensor_fusion_arch.pdf][pdf]], [[./figs/feedback_sensor_fusion_arch.tex][tex]]).
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#+RESULTS:
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[[file:figs/feedback_sensor_fusion_arch.png]]
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* TODO Feedback Loop Sensor Fusion Architecture
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#+begin_src latex :file feedback_synthesis_architecture.pdf :tangle figs/feedback_synthesis_architecture.tex
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\begin{tikzpicture}
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\node[block] (W1) at (0,0) {$W_1$};
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\node[addb={+}{}{}{}{-}, right=1 of W1] (addfb){};
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\node[addb={+}{}{}{}{}, right=4.5 of W1] (adddy){};
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\node[block, above=0.8 of adddy] (W2){$W_2$};
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\node[block] (W2) at (0,0) {$W_2$};
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\node[addb={+}{}{}{}{-}, right=1 of W2] (addfb){};
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\node[addb={+}{}{}{}{}, right=4.5 of W2] (adddy){};
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\node[block, above=0.8 of adddy] (W1){$W_1$};
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\draw[<-] (W1.west) -- ++(-1, 0) node[above right]{$w_1$};
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\draw[->] (W1.east) -- (addfb.west) node[above left]{$\tilde{w}_1$};
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\draw[<-] (W2.west) -- ++(-1, 0) node[above right]{$w_2$};
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\draw[->] (W2.east) -- (addfb.west) node[above left]{$\tilde{w}_2$};
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\draw[->] (addfb.east) -- ++(1, 0) node[above left]{$v$};
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\draw[<-] (adddy.west) -- ++(-1, 0) node[above right]{$u$};
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\draw[->] (adddy.east) -- ++(1.4, 0) node[above left]{$z$};
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\draw[->] (W2.south) -- (adddy.north) node[above right]{$\tilde{w}_2$};
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\draw[<-] (W2.north) -- ++(0, 1) node[below right]{$w_2$};
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\draw[->] (W1.south) -- (adddy.north) node[above right]{$\tilde{w}_1$};
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\draw[<-] (W1.north) -- ++(0, 1) node[below right]{$w_1$};
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\draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) -| (addfb.south);
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\end{tikzpicture}
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#+end_src
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@@ -473,29 +509,29 @@ Configuration file is accessible [[file:config.org][here]].
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#+RESULTS:
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[[file:figs/feedback_synthesis_architecture.png]]
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* Feedback Loop Sensor Fusion Architecture
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* Feedback Sensor Fusion - Generalized Plant
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#+begin_src latex :file feedback_synthesis_architecture_generalized_plant.pdf :tangle figs/feedback_synthesis_architecture_generalized_plant.tex
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\begin{tikzpicture}
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\node[block={4.5cm}{3.0cm}, fill=black!10!white] (P) {};
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\node[above] at (P.north) {$P_L(s)$};
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\coordinate[] (inputw2) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
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\coordinate[] (inputw1) at ($(P.south west)!0.40!(P.north west) + (-0.7, 0)$);
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\coordinate[] (inputw1) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
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\coordinate[] (inputw2) at ($(P.south west)!0.40!(P.north west) + (-0.7, 0)$);
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\coordinate[] (inputu) at ($(P.south west)!0.15!(P.north west) + (-0.7, 0)$);
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\coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$);
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\coordinate[] (outputv) at ($(P.south east)!0.40!(P.north east) + ( 0.7, 0)$);
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\node[block, right=1.2 of inputw1] (W1){$W_1(s)$};
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\node[block, right=1.2 of inputw2] (W2){$W_2(s)$};
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\node[addb={+}{}{}{}{}, right=0.8 of W2] (add) {};
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\node[addb={+}{}{-}{}{}, right=1.8 of W1] (sub) {};
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\node[block, right=1.2 of inputw1] (W1){$W_1(s)$};
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\node[addb={+}{}{}{}{}, right=0.8 of W1] (add) {};
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\node[addb={+}{}{-}{}{}, right=1.8 of W2] (sub) {};
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\draw[->] (inputw1) node[above right]{$w_1$} -- (W1.west);
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\draw[->] (inputw2) node[above right]{$w_2$} -- (W2.west);
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\draw[->] (inputw1) node[above right]{$w_1$} -- (W1.west);
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\draw[->] (inputu) node[above right]{$u$} -| (add.south);
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\draw[->] (W1.east) -- (sub.west);
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\draw[->] (W2.east) -- (add.west);
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\draw[->] (W2.east) -- (sub.west);
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\draw[->] (W1.east) -- (add.west);
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\draw[->] (add.east) -- (outputz)node[above left]{$z$};
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\draw[->] (sub.east) -- (outputv)node[above left]{$v$};
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\draw[->] (add-|sub) node[branch]{} -- (sub.north);
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@@ -595,7 +631,7 @@ Configuration file is accessible [[file:config.org][here]].
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#+begin_src latex :file comp_filter_three_hinf.pdf :tangle figs/comp_filter_three_hinf.tex
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\begin{tikzpicture}
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\node[block={5.0cm}{4.5cm}, fill=black!10!white] (P) {};
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\node[above] at (P.north) {$P(s)$};
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\node[above] at (P.north) {$P_3(s)$};
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\coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$);
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\coordinate[] (inputu) at ($(P.south west)!0.4!(P.north west) + (-0.7, 0)$);
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