From 46b451ba2a14ebf9b8b0a5283d815a3148708d32 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 17 Dec 2024 11:10:45 +0100
Subject: [PATCH] Update Content - 2024-12-17

---
 content/zettels/feedforward_control.md | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/content/zettels/feedforward_control.md b/content/zettels/feedforward_control.md
index 36f69cf..f057c4d 100644
--- a/content/zettels/feedforward_control.md
+++ b/content/zettels/feedforward_control.md
@@ -14,7 +14,7 @@ Depending on the physical system to be controlled, several feedforward controlle
 -   <sec:model_based_feedforward>
 -   <sec:rigid-body-feedforward>
 
-<&boerlage03_model>
+(<a href="#citeproc_bib_item_1">Boerlage et al. 2003</a>)
 
 
 ## Rigid Body Feedforward {#sec:rigid-body-feedforward}
@@ -108,14 +108,14 @@ and \\(s\\) the snap, \\(j\\) the jerk, \\(a\\) the acceleration and \\(v\\) the
 
 The same architecture shown in Figure <fig:feedforward_fourth_order_feedforward_architecture> can be used.
 
-In order to implement a fourth order trajectory, look at [this](https://www.mathworks.com/matlabcentral/fileexchange/16352-advanced-setpoints-for-motion-systems) nice implementation in Simulink of fourth-order trajectory planning (see also <&lambrechts04_trajec>).
+In order to implement a fourth order trajectory, look at [this](https://www.mathworks.com/matlabcentral/fileexchange/16352-advanced-setpoints-for-motion-systems) nice implementation in Simulink of fourth-order trajectory planning (see also (<a href="#citeproc_bib_item_2">Lambrechts, Boerlage, and Steinbuch 2004</a>)).
 
 
 ## Model Based Feedforward Control for Second Order resonance plant {#model-based-feedforward-control-for-second-order-resonance-plant}
 
 <span class="org-target" id="org-target--sec-model-based-feedforward"></span>
 
-See <&schmidt20_desig_high_perfor_mechat_third_revis_edition> (Section 4.2.1).
+See (<a href="#citeproc_bib_item_3">Schmidt, Schitter, and Rankers 2020</a>) (Section 4.2.1).
 
 Suppose we have a second order plant (could typically be a piezoelectric stage):
 \\[ G(s) = \frac{C\_f \omega\_0^2}{s^2 + 2\xi \omega\_0 s + \omega\_0^2} \\]
@@ -225,4 +225,8 @@ This can be solved by using **snap feedforward**
 
 {{< figure src="/ox-hugo/feedforward_schematic_snap.png" >}}
 
-<./biblio/references.bib>
+<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Boerlage, M., M. Steinbuch, P. Lambrechts, and M. van de Wal. 2003. “Model-Based Feedforward for Motion Systems.” In <i>Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.</i> doi:<a href="https://doi.org/10.1109/cca.2003.1223174">10.1109/cca.2003.1223174</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Lambrechts, P., M. Boerlage, and M. Steinbuch. 2004. “Trajectory Planning and Feedforward Design for High Performance Motion Systems.” In <i>Proceedings of the 2004 American Control Conference</i>. doi:<a href="https://doi.org/10.23919/acc.2004.1384042">10.23919/acc.2004.1384042</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
+</div>