Work on discussion section + add new figures
This commit is contained in:
179
tikz/index.org
179
tikz/index.org
@@ -374,7 +374,7 @@ Configuration file is accessible [[file:config.org][here]].
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#+RESULTS:
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[[file:figs/h_infinity_robust_fusion.png]]
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* Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters
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* LIGO Sensor Fusion Architecture
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#+begin_src latex :file ligo_super_sensor_architecture.pdf :tangle figs/ligo_super_sensor_architecture.tex :exports both
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\definecolor{myblue}{rgb}{0, 0.447, 0.741}
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\definecolor{myred}{rgb}{0.8500, 0.325, 0.098}
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@@ -409,24 +409,192 @@ Configuration file is accessible [[file:config.org][here]].
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\draw[->] (addp.east) -- ++(1.0, 0);
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\begin{scope}[on background layer]
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\node[fit={(x.west|-geophone.south) (position.north-|addp.east)}, fill=black!20!white, draw, inner sep=6pt] (supersensor) {};
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\node[fit={(x.west|-geophone.south) (position.north-|addp.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {};
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\node[below] at (supersensor.north) {Super Sensor};
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\node[fit={(x.west|-seismometer.north) (add.east|-geophone.south)}, fill=black!10!white, draw, inner sep=3pt] (superinertialsensor) {};
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\node[fit={(x.west|-seismometer.north) (add.east|-geophone.south)}, fill=black!20!white, draw, inner sep=3pt] (superinertialsensor) {};
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\node[] at (superinertialsensor.center) {"Inertial" 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:ligo_super_sensor_architecture
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#+caption: Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters ([[./figs/ligo_super_sensor_architecture.png][png]], [[./figs/ligo_super_sensor_architecture.pdf][pdf]], [[./figs/ligo_super_sensor_architecture.tex][tex]]).
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#+caption: ([[./figs/ligo_super_sensor_architecture.png][png]], [[./figs/ligo_super_sensor_architecture.pdf][pdf]], [[./figs/ligo_super_sensor_architecture.tex][tex]]).
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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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#+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[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.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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\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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% \node[below] 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
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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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#+RESULTS:
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[[file:figs/feedback_sensor_fusion.png]]
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* 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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\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[->] (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[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) -| (addfb.south);
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\end{tikzpicture}
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#+end_src
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#+name: fig:feedback_synthesis_architecture
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#+caption: ([[./figs/feedback_synthesis_architecture.png][png]], [[./figs/feedback_synthesis_architecture.pdf][pdf]], [[./figs/feedback_synthesis_architecture.tex][tex]]).
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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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#+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[] (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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\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[->] (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[->] (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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\end{tikzpicture}
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#+end_src
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#+name: fig:feedback_synthesis_architecture_generalized_plant
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#+caption: ([[./figs/feedback_synthesis_architecture_generalized_plant.png][png]], [[./figs/feedback_synthesis_architecture_generalized_plant.pdf][pdf]], [[./figs/feedback_synthesis_architecture_generalized_plant.tex][tex]]).
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#+RESULTS:
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[[file:figs/feedback_synthesis_architecture_generalized_plant.png]]
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* Sensor Fusion - Parallel
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#+begin_src latex :file sensor_fusion_three_parallel.pdf
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\begin{tikzpicture}
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\node[branch] (x) at (0, 0);
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\node[block, right=0.4 of x] (sensor2) {Sensor 2};
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\node[block, above=0.3 of sensor2] (sensor1) {Sensor 1};
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\node[block, below=0.3 of sensor2] (sensor3) {Sensor 3};
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\node[block, right=1.1 of sensor1](H1){$H_1(s)$};
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\node[block, right=1.1 of sensor2](H2){$H_2(s)$};
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\node[block, right=1.1 of sensor3](H3){$H_3(s)$};
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\node[addb, right=0.6 of H2](add){};
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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[->] (x.center) |- (sensor3.west);
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\draw[->] (sensor1.east) -- (H1.west) node[above left]{$\hat{x}_1$};
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\draw[->] (sensor2.east) -- (H2.west) node[above left]{$\hat{x}_2$};
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\draw[->] (sensor3.east) -- (H3.west) node[above left]{$\hat{x}_3$};
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\draw[->] (H1) -| (add.north);
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\draw[->] (H2) -- (add.west);
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\draw[->] (H3) -| (add.south);
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\draw[->] (add.east) -- ++(0.8, 0) node[above left]{$\hat{x}$};
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\begin{scope}[on background layer]
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\node[fit={(H3.south-|x) (H1.north-|add.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {};
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\end{scope}
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\end{tikzpicture}
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#+end_src
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#+name: fig:sensor_fusion_three_parallel
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#+caption: Sensor Fusion Architecture - Overview
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#+RESULTS:
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[[file:figs/sensor_fusion_three_parallel.png]]
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* Sensor Fusion - Sequential
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#+begin_src latex :file sensor_fusion_three_sequential.pdf
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\begin{tikzpicture}
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\node[branch] (x) at (0, 0);
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\node[block, right=0.4 of x] (sensor2) {Sensor 2};
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\node[block, above=0.4 of sensor2] (sensor1) {Sensor 1};
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\node[block, below=0.4 of sensor2] (sensor3) {Sensor 3};
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\node[block, right=1.1 of sensor1](H1){$H_1(s)$};
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\node[block, right=1.1 of sensor2](H2){$H_2(s)$};
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\node[addb] (add) at ($0.5*(H1.east)+0.5*(H2.east)+(0.6, 0)$){};
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\node[block, right=0.8 of add](H1p) {$H_1^\prime(s)$};
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\node[block] (H2p) at (H1p|-sensor3) {$H_2^\prime(s)$};
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\node[addb] (addp) at ($0.5*(H1p.east)+0.5*(H2p.east)+(0.6, 0)$){};
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\draw[->] ($(x)+(-0.8, 0)$) node[above right]{$x$} -- (sensor2.west);
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\draw[->] (x.center) |- (sensor1.west);
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\draw[->] (x.center) |- (sensor3.west);
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\draw[->] (sensor1.east) -- (H1.west) node[above left]{$\hat{x}_1$};
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\draw[->] (sensor2.east) -- (H2.west) node[above left]{$\hat{x}_2$};
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\draw[->] (sensor3.east) -- (H2p.west) node[above left]{$\hat{x}_3$};
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\draw[->] (H1) -| (add.north);
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\draw[->] (H2) -| (add.south);
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\draw[->] (add.east) -- (H1p.west) node[above left]{$\hat{x}_{12}$};
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\draw[->] (H1p) -| (addp.north);
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\draw[->] (H2p) -| (addp.south);
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\draw[->] (addp.east) -- ++(0.8, 0) node[above left]{$\hat{x}$};
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\begin{scope}[on background layer]
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\node[fit={(x.west|-sensor3.south) (sensor1.north-|addp.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {};
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% \node[below] at (supersensor.north) {Super Sensor};
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\node[fit={(x.west|-sensor1.north) (add.east|-sensor2.south)}, fill=black!20!white, draw, inner sep=3pt] (superinertialsensor) {};
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% \node[] at (superinertialsensor.center) {"Inertial" 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:sensor_fusion_three_sequential
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#+caption: Sensor Fusion Architecture - Overview
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#+RESULTS:
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[[file:figs/sensor_fusion_three_sequential.png]]
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* Architecture for $\mathcal{H}_\infty$ synthesis of three complementary filters
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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!20!white] (P) {};
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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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\coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$);
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@@ -467,4 +635,3 @@ Configuration file is accessible [[file:config.org][here]].
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#+caption: Architecture for $\mathcal{H}_\infty$ synthesis of three complementary filters ([[./figs/comp_filter_three_hinf.png][png]], [[./figs/comp_filter_three_hinf.pdf][pdf]], [[./figs/comp_filter_three_hinf.tex][tex]]).
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#+RESULTS:
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[[file:figs/comp_filter_three_hinf.png]]
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