bibliography: => #+BIBLIOGRAPHY: here

content/article/yang19_dynam_model_decoup_contr_flexib.md

@@ -8,7 +8,7 @@ Tags
 : [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}}), [Flexible Joints]({{< relref "flexible_joints" >}}), [Cubic Architecture]({{< relref "cubic_architecture" >}})
 
 Reference
-: ([Yang et al. 2019](#org8fbcee2))
+: ([Yang et al. 2019](#orgb15122e))
 
 Author(s)
 : Yang, X., Wu, H., Chen, B., Kang, S., & Cheng, S.
@@ -25,23 +25,23 @@ Year
 The joint stiffness impose a limitation on the control performance using force sensors as it adds a zero at low frequency in the dynamics.
 Thus, this stiffness is taken into account in the dynamics and compensated for.
 
-**Stewart platform** (Figure [1](#org006c2df)):
+**Stewart platform** (Figure [1](#org479da8d)):
 
 -   piezoelectric actuators
--   flexible joints (Figure [2](#org8725dbf))
+-   flexible joints (Figure [2](#org83afe99))
 -   force sensors (used for vibration isolation)
 -   displacement sensors (used to decouple the dynamics)
 -   cubic (even though not said explicitly)
 
-<a id="org006c2df"></a>
+<a id="org479da8d"></a>
 
 {{< figure src="/ox-hugo/yang19_stewart_platform.png" caption="Figure 1: Stewart Platform" >}}
 
-<a id="org8725dbf"></a>
+<a id="org83afe99"></a>
 
 {{< figure src="/ox-hugo/yang19_flexible_joints.png" caption="Figure 2: Flexible Joints" >}}
 
-The stiffness of the flexible joints (Figure [2](#org8725dbf)) are computed with an FEM model and shown in Table [1](#table--tab:yang19-stiffness-flexible-joints).
+The stiffness of the flexible joints (Figure [2](#org83afe99)) are computed with an FEM model and shown in Table [1](#table--tab:yang19-stiffness-flexible-joints).
 
 <a id="table--tab:yang19-stiffness-flexible-joints"></a>
 <div class="table-caption">
@@ -105,9 +105,9 @@ In order to apply this control strategy:
 -   The jacobian has to be computed
 -   No information about modal matrix is needed
 
-The block diagram of the control strategy is represented in Figure [3](#org820f661).
+The block diagram of the control strategy is represented in Figure [3](#orgd526d94).
 
-<a id="org820f661"></a>
+<a id="orgd526d94"></a>
 
 {{< figure src="/ox-hugo/yang19_control_arch.png" caption="Figure 3: Control Architecture used" >}}
 
@@ -121,10 +121,10 @@ Substituting \\(H(s)\\) in the equation of motion gives that:
 
 **Experimental Validation**:
 An external Shaker is used to excite the base and accelerometers are located on the base and mobile platforms to measure their motion.
-The results are shown in Figure [4](#org990744b).
+The results are shown in Figure [4](#orge73e046).
 In theory, the vibration performance can be improved, however in practice, increasing the gain causes saturation of the piezoelectric actuators and then the instability occurs.
 
-<a id="org990744b"></a>
+<a id="orge73e046"></a>
 
 {{< figure src="/ox-hugo/yang19_results.png" caption="Figure 4: Frequency response of the acceleration ratio between the paylaod and excitation (Transmissibility)" >}}
 
@@ -134,6 +134,7 @@ In theory, the vibration performance can be improved, however in practice, incre
 > The proportional and integral gains in the sub-controller are used to separately regulate the vibration isolation bandwidth and active damping simultaneously for the six vibration modes.
 
 
+
 ## Bibliography {#bibliography}
 
-<a id="org8fbcee2"></a>Yang, XiaoLong, HongTao Wu, Bai Chen, ShengZheng Kang, and ShiLi Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” _Journal of Sound and Vibration_ 439 (January). Elsevier BV:398–412. <https://doi.org/10.1016/j.jsv.2018.10.007>.
+<a id="orgb15122e"></a>Yang, XiaoLong, HongTao Wu, Bai Chen, ShengZheng Kang, and ShiLi Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” _Journal of Sound and Vibration_ 439 (January). Elsevier BV:398–412. <https://doi.org/10.1016/j.jsv.2018.10.007>.