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tdehaeze committed 2021-04-30 11:17:52 +02:00
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../journal/figs
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tikz/figs/comp_filter_three_hinf.tex
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tikz/figs/comp_fir_ligo_hinf.pdf
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\begin{tikzpicture}
\node[branch] (x) at (0, 0);
\node[block, above right=0.5 and 0.5 of x](G1){$G_1(s)$};
\node[block, below right=0.5 and 0.5 of x](G2){$G_2(s)$};
\node[addb, right=0.8 of G1](add1){};
\node[addb, right=0.8 of G2](add2){};
\node[block, right=0.8 of add1](H1){$H_1(s)$};
\node[block, right=0.8 of add2](H2){$H_2(s)$};
\node[addb, right=5 of x](add){};
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
\draw[->] (x.center) |- (G1.west);
\draw[->] (x.center) |- (G2.west);
\draw[->] (G1.east) -- (add1.west);
\draw[->] (G2.east) -- (add2.west);
\draw[<-] (add1.north) -- ++(0, 0.8)node[below right](n1){$n_1$};
\draw[<-] (add2.north) -- ++(0, 0.8)node[below right](n2){$n_2$};
\draw[->] (add1.east) -- (H1.west);
\draw[->] (add2.east) -- (H2.west);
\draw[->] (H1) -| (add.north);
\draw[->] (H2) -| (add.south);
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
\begin{scope}[on background layer]
\node[fit={($(G2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
\node[below left] at (supersensor.north east) {Super Sensor};
\node[fit={($(G1.south west)+(-0.3, -0.1)$) ($(n1.north east)+(0.0, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
\node[below right] at (sensor1.north west) {Sensor 1};
\node[fit={($(G2.south west)+(-0.3, -0.1)$) ($(n2.north east)+(0.0, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
\node[below right] at (sensor2.north west) {Sensor 2};
\end{scope}
\end{tikzpicture}
tikz/figs/h_infinity_robust_fusion.pdf
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tikz/figs/h_infinity_robust_fusion.svg
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tikz/figs/h_infinity_robust_fusion.tex
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\draw[->] (W2.east) -- (output2)node[above left]{$z_2$};
\end{tikzpicture}
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tikz/figs/sensor_fusion_dynamic_uncertainty.tex
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\begin{tikzpicture}
\node[branch] (x) at (0, 0);
\node[addb, above right=0.8 and 4 of x](add1){};
\node[addb, below right=0.8 and 4 of x](add2){};
\node[block, above left=0.2 and 0.1 of add1](delta1){$\Delta_1(s)$};
\node[block, above left=0.2 and 0.1 of add2](delta2){$\Delta_2(s)$};
\node[block, left=0.5 of delta1](W1){$w_1(s)$};
\node[block, left=0.5 of delta2](W2){$w_2(s)$};
\node[block, right=0.5 of add1](H1){$H_1(s)$};
\node[block, right=0.5 of add2](H2){$H_2(s)$};
\node[addb, right=6 of x](add){};
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
\draw[->] (x.center) |- (add1.west);
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\draw[->] (delta2.east) -| (add2.north);
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\draw[->] (H2.east) -| (add.south);
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
\begin{scope}[on background layer]
\node[block, fit={($(W1.north-|S1)+(-0.2, 0.2)$) ($(add1.south east)+(0.2, -0.3)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
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\node[above right] at (sensor2.south west) {Sensor 2};
\end{scope}
\end{tikzpicture}
tikz/figs/three_complementary_filters_results.pdf
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tikz/figs/uncertainty_set_super_sensor.pdf
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tikz/figs/uncertainty_set_super_sensor.svg
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tikz/figs/uncertainty_set_super_sensor.tex
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\begin{tikzpicture}
\begin{scope}[shift={(4, 0)}]
% Uncertainty Circle
\node[draw, circle, fill=black!20!white, minimum size=3.6cm] (c) at (0, 0) {};
\path[draw, dotted] (0, 0) circle [radius=1.0];
\path[draw, dashed] (135:1.0) circle [radius=0.8];
% Center of Circle
\node[below] at (0, 0){$1$};
\draw[<->, dashed] (0, 0) node[branch]{} -- coordinate[midway](r1) ++(45:1.0);
\draw[<->, dashed] (135:1.0)node[branch]{} -- coordinate[midway](r2) ++(90:0.8);
\node[] (l1) at (2, 1.5) {$|w_1 H_1|$};
\draw[->, dashed, out=-90, in=0] (l1.south) to (r1);
\node[] (l2) at (0, 2.0) {$|w_2 H_2|$};
\draw[->, dashed, out=-90, in=0] (l2.south) to (r2);
\draw[<->, dashed] (0, 0) -- coordinate[near end](r3) ++(200:1.8);
\node[] (l3) at (-2.5, -1.5) {$|w_1 H_1| + |w_2 H_2|$};
\draw[->, dashed, out=90, in=-90] (l3.north) to (r3);
% % Uncertainty Regions
% \node[below left] at (45:1.8) {$\Pi_{\text{ss}}$};
% \node[above left] at (-45:1.0) {$\Pi_{1}$};
% \node[below] at ($(135:1.0)+(0, 0.8)$) {$\Pi_{2}$};
\end{scope}
% Real and Imaginary Axis
\draw[->] (-0.5, 0) -- (7.0, 0) node[below left]{Re};
\draw[->] (0, -1.8) -- (0, 2.0) node[below left]{Im};
\draw[dashed] (0, 0) -- (tangent cs:node=c,point={(0, 0)},solution=2);
\draw[dashed] (1, 0) arc (0:28:1) node[midway, right]{$\Delta \phi$};
\end{tikzpicture}
tikz/figs/weight_formula.pdf
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tikz/figs/weight_formula.tex
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\setlength\fwidth{6.5cm}
\setlength\fheight{3.5cm}
\begin{tikzpicture}
\begin{axis}[%
width=1.0\fwidth,
height=1.0\fheight,
at={(0.0\fwidth, 0.0\fheight)},
scale only axis,
xmode=log,
xmin=0.1,
xmax=100,
xtick={0.1,1,10, 100},
xminorticks=true,
ymode=log,
ymin=0.0005,
ymax=20,
ytick={0.001, 0.01, 0.1, 1, 10},
yminorticks=true,
ylabel={Magnitude},
xlabel={Frequency [Hz]},
xminorgrids,
yminorgrids,
]
\addplot [color=black, line width=1.5pt, forget plot]
table [x=freqs, y=ampl, col sep=comma] {/home/thomas/Cloud/thesis/papers/dehaeze19_desig_compl_filte/matlab/matweight_formula.csv};
\addplot [color=black, dashed, line width=1.5pt]
table[row sep=crcr]{%
1 10\\
100 10\\
};
\addplot [color=black, dashed, line width=1.5pt]
table[row sep=crcr]{%
0.1 0.001\\
3 0.001\\
};
\addplot [color=black, line width=1.5pt]
table[row sep=crcr]{%
0.1 1\\
100 1\\
};
\addplot [color=black, dashed, line width=1.5pt]
table[row sep=crcr]{%
10 2\\
10 1\\
};
\node[below] at (2, 10) {$G_\infty$};
\node[above] at (2, 0.001) {$G_0$};
\node[branch] at (10, 2){};
\draw[dashed, line cap=round] (7, 2) -- (20, 2) node[right]{$G_c$};
\draw[dashed, line cap=round] (10, 2) -- (10, 1) node[below]{$\omega_c$};
\node[right] at (3, 0.1) {$+n$};
\end{axis}
\end{tikzpicture}