Update Content - 2020-10-15

content/article/spanos95_soft_activ_vibrat_isolat.md

@@ -8,7 +8,7 @@ Tags
 : [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}})
 
 Reference
-: ([Spanos, Rahman, and Blackwood 1995](#orgad76892))
+: ([Spanos, Rahman, and Blackwood 1995](#orgfa35a11))
 
 Author(s)
 : Spanos, J., Rahman, Z., & Blackwood, G.
@@ -16,14 +16,14 @@ Author(s)
 Year
 : 1995
 
-**Stewart Platform** (Figure [1](#org6d10ec2)):
+**Stewart Platform** (Figure [1](#org04a652d)):
 
 -   Voice Coil
 -   Flexible joints (cross-blades)
 -   Force Sensors
 -   Cubic Configuration
 
-<a id="org6d10ec2"></a>
+<a id="org04a652d"></a>
 
 {{< figure src="/ox-hugo/spanos95_stewart_platform.png" caption="Figure 1: Stewart Platform" >}}
 
@@ -41,7 +41,7 @@ After redesign of the struts:
 -   low frequency zero at 2.6Hz but non-minimum phase (not explained).
     Small viscous damping material in the cross blade flexures made the zero minimum phase again.
 
-<a id="orgfef5d56"></a>
+<a id="org0b2816d"></a>
 
 {{< figure src="/ox-hugo/spanos95_iff_plant.png" caption="Figure 2: Experimentally measured transfer function from voice coil drive voltage to collocated load cell output voltage" >}}
 
@@ -52,13 +52,13 @@ The controller used consisted of:
 -   first order lag filter to provide adequate phase margin at the low frequency crossover
 -   a first order high pass filter to attenuate the excess gain resulting from the low frequency zero
 
-The results in terms of transmissibility are shown in Figure [3](#orgec62915).
+The results in terms of transmissibility are shown in Figure [3](#org3083c42).
 
-<a id="orgec62915"></a>
+<a id="org3083c42"></a>
 
 {{< figure src="/ox-hugo/spanos95_results.png" caption="Figure 3: Experimentally measured Frobenius norm of the 6-axis transmissibility" >}}
 
 
 ## Bibliography {#bibliography}
 
-<a id="orgad76892"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In _Proceedings of 1995 American Control Conference - ACC’95_, nil. <https://doi.org/10.1109/acc.1995.529280>.
+<a id="orgfa35a11"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In _Proceedings of 1995 American Control Conference - ACC’95_, nil. <https://doi.org/10.1109/acc.1995.529280>.