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--- a/content/book/fleming14_desig_model_contr_nanop_system.md
+++ b/content/book/fleming14_desig_model_contr_nanop_system.md
@@ -9,7 +9,7 @@ Tags


 Reference
-: <sup id="1851788e0c4aa5b06afe3362c73ea5eb"><a href="#fleming14_desig_model_contr_nanop_system" title="Andrew Fleming \&amp; Kam Leang, Design, Modeling and Control of Nanopositioning Systems, Springer International Publishing (2014).">(Andrew Fleming \& Kam Leang, 2014)</a></sup>
+: ([Fleming and Leang 2014](#org2385d08))

 Author(s)
 : Fleming, A. J., & Leang, K. K.
@@ -17,5 +17,850 @@ Author(s)
 Year
 : 2014

-# Bibliography
-<a id="fleming14_desig_model_contr_nanop_system"></a>Fleming, A. J., & Leang, K. K., *Design, modeling and control of nanopositioning systems* (2014), : Springer International Publishing. [↩](#1851788e0c4aa5b06afe3362c73ea5eb)
+
+## 1 Introduction {#1-introduction}
+
+
+### 1.1 Introduction to Nanotechnology {#1-dot-1-introduction-to-nanotechnology}
+
+
+### 1.2 Introduction to Nanopositioning {#1-dot-2-introduction-to-nanopositioning}
+
+
+### 1.3 Scanning Probe Microscopy {#1-dot-3-scanning-probe-microscopy}
+
+
+### 1.4 Challenges with Nanopositioning Systems {#1-dot-4-challenges-with-nanopositioning-systems}
+
+
+#### 1.4.1 Hysteresis {#1-dot-4-dot-1-hysteresis}
+
+
+#### 1.4.2 Creep {#1-dot-4-dot-2-creep}
+
+
+#### 1.4.3 Thermal Drift {#1-dot-4-dot-3-thermal-drift}
+
+
+#### 1.4.4 Mechanical Resonance {#1-dot-4-dot-4-mechanical-resonance}
+
+
+### 1.5 Control of Nanopositioning Systems {#1-dot-5-control-of-nanopositioning-systems}
+
+
+#### 1.5.1 Feedback Control {#1-dot-5-dot-1-feedback-control}
+
+
+#### 1.5.2 Feedforward Control {#1-dot-5-dot-2-feedforward-control}
+
+
+### 1.6 Book Summary {#1-dot-6-book-summary}
+
+
+#### 1.6.1 Assumed Knowledge {#1-dot-6-dot-1-assumed-knowledge}
+
+
+#### 1.6.2 Content Summary {#1-dot-6-dot-2-content-summary}
+
+
+### References {#references}
+
+
+## 2 Piezoelectric Transducers {#2-piezoelectric-transducers}
+
+
+### 2.1 The Piezoelectric Effect {#2-dot-1-the-piezoelectric-effect}
+
+
+### 2.2 Piezoelectric Compositions {#2-dot-2-piezoelectric-compositions}
+
+
+### 2.3 Manufacturing Piezoelectric Ceramics {#2-dot-3-manufacturing-piezoelectric-ceramics}
+
+
+### 2.4 Piezoelectric Transducers {#2-dot-4-piezoelectric-transducers}
+
+
+### 2.5 Application Considerations {#2-dot-5-application-considerations}
+
+
+#### 2.5.1 Mounting {#2-dot-5-dot-1-mounting}
+
+
+#### 2.5.2 Stroke Versus Force {#2-dot-5-dot-2-stroke-versus-force}
+
+
+#### 2.5.3 Preload and Flexures {#2-dot-5-dot-3-preload-and-flexures}
+
+
+#### 2.5.4 Electrical Considerations {#2-dot-5-dot-4-electrical-considerations}
+
+
+#### 2.5.5 Self-Heating Considerations {#2-dot-5-dot-5-self-heating-considerations}
+
+
+### 2.6 Response of Piezoelectric Actuators {#2-dot-6-response-of-piezoelectric-actuators}
+
+
+#### 2.6.1 Hysteresis {#2-dot-6-dot-1-hysteresis}
+
+
+#### 2.6.2 Creep {#2-dot-6-dot-2-creep}
+
+
+#### 2.6.3 Temperature Dependence {#2-dot-6-dot-3-temperature-dependence}
+
+
+#### 2.6.4 Vibrational Dynamics {#2-dot-6-dot-4-vibrational-dynamics}
+
+
+#### 2.6.5 Electrical Bandwidth {#2-dot-6-dot-5-electrical-bandwidth}
+
+
+### 2.7 Modeling Creep and Vibration in Piezoelectric Actuators {#2-dot-7-modeling-creep-and-vibration-in-piezoelectric-actuators}
+
+
+### 2.8 Chapter Summary {#2-dot-8-chapter-summary}
+
+
+### References {#references}
+
+
+## 3 Types of Nanopositioners {#3-types-of-nanopositioners}
+
+
+### 3.1 Piezoelectric Tube Nanopositioners {#3-dot-1-piezoelectric-tube-nanopositioners}
+
+
+#### 3.1.1 63mm Piezoelectric Tube {#3-dot-1-dot-1-63mm-piezoelectric-tube}
+
+
+#### 3.1.2 40mm Piezoelectric Tube Nanopositioner {#3-dot-1-dot-2-40mm-piezoelectric-tube-nanopositioner}
+
+
+### 3.2 Piezoelectric Stack Nanopositioners {#3-dot-2-piezoelectric-stack-nanopositioners}
+
+
+#### 3.2.1 Phyisk Instrumente P-734 Nanopositioner {#3-dot-2-dot-1-phyisk-instrumente-p-734-nanopositioner}
+
+
+#### 3.2.2 Phyisk Instrumente P-733.3DD Nanopositioner {#3-dot-2-dot-2-phyisk-instrumente-p-733-dot-3dd-nanopositioner}
+
+
+#### 3.2.3 Vertical Nanopositioners {#3-dot-2-dot-3-vertical-nanopositioners}
+
+
+#### 3.2.4 Rotational Nanopositioners {#3-dot-2-dot-4-rotational-nanopositioners}
+
+
+#### 3.2.5 Low Temperature and UHV Nanopositioners {#3-dot-2-dot-5-low-temperature-and-uhv-nanopositioners}
+
+
+#### 3.2.6 Tilting Nanopositioners {#3-dot-2-dot-6-tilting-nanopositioners}
+
+
+#### 3.2.7 Optical Objective Nanopositioners {#3-dot-2-dot-7-optical-objective-nanopositioners}
+
+
+### References {#references}
+
+
+## 4 Mechanical Design: Flexure-Based Nanopositioners {#4-mechanical-design-flexure-based-nanopositioners}
+
+
+### 4.1 Introduction {#4-dot-1-introduction}
+
+
+### 4.2 Operating Environment {#4-dot-2-operating-environment}
+
+
+### 4.3 Methods for Actuation {#4-dot-3-methods-for-actuation}
+
+
+### 4.4 Flexure Hinges {#4-dot-4-flexure-hinges}
+
+
+#### 4.4.1 Introduction {#4-dot-4-dot-1-introduction}
+
+
+#### 4.4.2 Types of Flexures {#4-dot-4-dot-2-types-of-flexures}
+
+
+#### 4.4.3 Flexure Hinge Compliance Equations {#4-dot-4-dot-3-flexure-hinge-compliance-equations}
+
+
+#### 4.4.4 Stiff Out-of-Plane Flexure Designs {#4-dot-4-dot-4-stiff-out-of-plane-flexure-designs}
+
+
+#### 4.4.5 Failure Considerations {#4-dot-4-dot-5-failure-considerations}
+
+
+#### 4.4.6 Finite Element Approach for Flexure Design {#4-dot-4-dot-6-finite-element-approach-for-flexure-design}
+
+
+### 4.5 Material Considerations {#4-dot-5-material-considerations}
+
+
+#### 4.5.1 Materials for Flexure and Platform Design {#4-dot-5-dot-1-materials-for-flexure-and-platform-design}
+
+
+#### 4.5.2 Thermal Stability of Materials {#4-dot-5-dot-2-thermal-stability-of-materials}
+
+
+### 4.6 Manufacturing Techniques {#4-dot-6-manufacturing-techniques}
+
+
+### 4.7 Design Example: A High-Speed Serial-Kinematic Nanopositioner {#4-dot-7-design-example-a-high-speed-serial-kinematic-nanopositioner}
+
+
+#### 4.7.1 State-of-the-Art Designs {#4-dot-7-dot-1-state-of-the-art-designs}
+
+
+#### 4.7.2 Tradeoffs and Limitations in Speed {#4-dot-7-dot-2-tradeoffs-and-limitations-in-speed}
+
+
+#### 4.7.3 Serial- Versus Parallel-Kinematic Configurations {#4-dot-7-dot-3-serial-versus-parallel-kinematic-configurations}
+
+
+#### 4.7.4 Piezoactuator Considerations {#4-dot-7-dot-4-piezoactuator-considerations}
+
+
+#### 4.7.5 Preloading Piezo-Stack Actuators {#4-dot-7-dot-5-preloading-piezo-stack-actuators}
+
+
+#### 4.7.6 Flexure Design for Lateral Positioning {#4-dot-7-dot-6-flexure-design-for-lateral-positioning}
+
+
+#### 4.7.7 Design of Vertical Stage {#4-dot-7-dot-7-design-of-vertical-stage}
+
+
+#### 4.7.8 Fabrication and Assembly {#4-dot-7-dot-8-fabrication-and-assembly}
+
+
+#### 4.7.9 Drive Electronics {#4-dot-7-dot-9-drive-electronics}
+
+
+#### 4.7.10 Experimental Results {#4-dot-7-dot-10-experimental-results}
+
+
+### 4.8 Chapter Summary {#4-dot-8-chapter-summary}
+
+
+### References {#references}
+
+
+## 5 Position Sensors {#5-position-sensors}
+
+
+### 5.1 Introduction {#5-dot-1-introduction}
+
+
+### 5.2 Sensor Characteristics {#5-dot-2-sensor-characteristics}
+
+
+#### 5.2.1 Calibration and Nonlinearity {#5-dot-2-dot-1-calibration-and-nonlinearity}
+
+
+#### 5.2.2 Drift and Stability {#5-dot-2-dot-2-drift-and-stability}
+
+
+#### 5.2.3 Bandwidth {#5-dot-2-dot-3-bandwidth}
+
+
+#### 5.2.4 Noise {#5-dot-2-dot-4-noise}
+
+
+#### 5.2.5 Resolution {#5-dot-2-dot-5-resolution}
+
+
+#### 5.2.6 Combining Errors {#5-dot-2-dot-6-combining-errors}
+
+
+#### 5.2.7 Metrological Traceability {#5-dot-2-dot-7-metrological-traceability}
+
+
+### 5.3 Nanometer Position Sensors {#5-dot-3-nanometer-position-sensors}
+
+
+#### 5.3.1 Resistive Strain Sensors {#5-dot-3-dot-1-resistive-strain-sensors}
+
+
+#### 5.3.2 Piezoresistive Strain Sensors {#5-dot-3-dot-2-piezoresistive-strain-sensors}
+
+
+#### 5.3.3 Piezoelectric Strain Sensors {#5-dot-3-dot-3-piezoelectric-strain-sensors}
+
+
+#### 5.3.4 Capacitive Sensors {#5-dot-3-dot-4-capacitive-sensors}
+
+
+#### 5.3.5 MEMs Capacitive and Thermal Sensors {#5-dot-3-dot-5-mems-capacitive-and-thermal-sensors}
+
+
+#### 5.3.6 Eddy-Current Sensors {#5-dot-3-dot-6-eddy-current-sensors}
+
+
+#### 5.3.7 Linear Variable Displacement Transformers {#5-dot-3-dot-7-linear-variable-displacement-transformers}
+
+
+#### 5.3.8 Laser Interferometers {#5-dot-3-dot-8-laser-interferometers}
+
+
+#### 5.3.9 Linear Encoders {#5-dot-3-dot-9-linear-encoders}
+
+
+### 5.4 Comparison and Summary {#5-dot-4-comparison-and-summary}
+
+
+### 5.5 Outlook and Future Requirements {#5-dot-5-outlook-and-future-requirements}
+
+
+### References {#references}
+
+
+## 6 Shunt Control {#6-shunt-control}
+
+
+### 6.1 Introduction {#6-dot-1-introduction}
+
+
+### 6.2 Shunt Circuit Modeling {#6-dot-2-shunt-circuit-modeling}
+
+
+#### 6.2.1 Open-Loop {#6-dot-2-dot-1-open-loop}
+
+
+#### 6.2.2 Shunt Damping {#6-dot-2-dot-2-shunt-damping}
+
+
+### 6.3 Implementation {#6-dot-3-implementation}
+
+
+### 6.4 Experimental Results {#6-dot-4-experimental-results}
+
+
+#### 6.4.1 Tube Dynamics {#6-dot-4-dot-1-tube-dynamics}
+
+
+#### 6.4.2 Amplifier Performance {#6-dot-4-dot-2-amplifier-performance}
+
+
+#### 6.4.3 Shunt Damping Performance {#6-dot-4-dot-3-shunt-damping-performance}
+
+
+### 6.5 Chapter Summary {#6-dot-5-chapter-summary}
+
+
+### References {#references}
+
+
+## 7 Feedback Control {#7-feedback-control}
+
+
+### 7.1 Introduction {#7-dot-1-introduction}
+
+
+### 7.2 Experimental Setup {#7-dot-2-experimental-setup}
+
+
+### 7.3 PI Control {#7-dot-3-pi-control}
+
+
+### 7.4 PI Control with Notch Filters {#7-dot-4-pi-control-with-notch-filters}
+
+
+### 7.5 PI Control with IRC Damping {#7-dot-5-pi-control-with-irc-damping}
+
+
+### 7.6 Performance Comparison {#7-dot-6-performance-comparison}
+
+
+### 7.7 Noise and Resolution {#7-dot-7-noise-and-resolution}
+
+
+### 7.8 Analog Implementation {#7-dot-8-analog-implementation}
+
+
+### 7.9 Application to AFM Imaging {#7-dot-9-application-to-afm-imaging}
+
+
+### 7.10 Repetitive Control {#7-dot-10-repetitive-control}
+
+
+#### 7.10.1 Introduction {#7-dot-10-dot-1-introduction}
+
+
+#### 7.10.2 Repetitive Control Concept and Stability Considerations {#7-dot-10-dot-2-repetitive-control-concept-and-stability-considerations}
+
+
+#### 7.10.3 Dual-Stage Repetitive Control {#7-dot-10-dot-3-dual-stage-repetitive-control}
+
+
+#### 7.10.4 Handling Hysteresis {#7-dot-10-dot-4-handling-hysteresis}
+
+
+#### 7.10.5 Design and Implementation {#7-dot-10-dot-5-design-and-implementation}
+
+
+#### 7.10.6 Experimental Results and Discussion {#7-dot-10-dot-6-experimental-results-and-discussion}
+
+
+### 7.11 Summary {#7-dot-11-summary}
+
+
+### References {#references}
+
+
+## 8 Force Feedback Control {#8-force-feedback-control}
+
+
+### 8.1 Introduction {#8-dot-1-introduction}
+
+
+### 8.2 Modeling {#8-dot-2-modeling}
+
+
+#### 8.2.1 Actuator Dynamics {#8-dot-2-dot-1-actuator-dynamics}
+
+
+#### 8.2.2 Sensor Dynamics {#8-dot-2-dot-2-sensor-dynamics}
+
+
+#### 8.2.3 Sensor Noise {#8-dot-2-dot-3-sensor-noise}
+
+
+#### 8.2.4 Mechanical Dynamics {#8-dot-2-dot-4-mechanical-dynamics}
+
+
+#### 8.2.5 System Properties {#8-dot-2-dot-5-system-properties}
+
+
+#### 8.2.6 Example System {#8-dot-2-dot-6-example-system}
+
+
+### 8.3 Damping Control {#8-dot-3-damping-control}
+
+
+### 8.4 Tracking Control {#8-dot-4-tracking-control}
+
+
+#### 8.4.1 Relationship Between Force and Displacement {#8-dot-4-dot-1-relationship-between-force-and-displacement}
+
+
+#### 8.4.2 Integral Displacement Feedback {#8-dot-4-dot-2-integral-displacement-feedback}
+
+
+#### 8.4.3 Direct Tracking Control {#8-dot-4-dot-3-direct-tracking-control}
+
+
+#### 8.4.4 Dual Sensor Feedback {#8-dot-4-dot-4-dual-sensor-feedback}
+
+
+#### 8.4.5 Low Frequency Bypass {#8-dot-4-dot-5-low-frequency-bypass}
+
+
+#### 8.4.6 Feedforward Inputs {#8-dot-4-dot-6-feedforward-inputs}
+
+
+#### 8.4.7 Higher-Order Modes {#8-dot-4-dot-7-higher-order-modes}
+
+
+### 8.5 Experimental Results {#8-dot-5-experimental-results}
+
+
+#### 8.5.1 Experimental Nanopositioner {#8-dot-5-dot-1-experimental-nanopositioner}
+
+
+#### 8.5.2 Actuators and Force Sensors {#8-dot-5-dot-2-actuators-and-force-sensors}
+
+
+#### 8.5.3 Control Design {#8-dot-5-dot-3-control-design}
+
+
+#### 8.5.4 Noise Performance {#8-dot-5-dot-4-noise-performance}
+
+
+### 8.6 Chapter Summary {#8-dot-6-chapter-summary}
+
+
+### References {#references}
+
+
+## 9 Feedforward Control {#9-feedforward-control}
+
+
+### 9.1 Why Feedforward? {#9-dot-1-why-feedforward}
+
+
+### 9.2 Modeling for Feedforward Control {#9-dot-2-modeling-for-feedforward-control}
+
+
+### 9.3 Feedforward Control of Dynamics and Hysteresis {#9-dot-3-feedforward-control-of-dynamics-and-hysteresis}
+
+
+#### 9.3.1 Simple DC-Gain Feedforward Control {#9-dot-3-dot-1-simple-dc-gain-feedforward-control}
+
+
+#### 9.3.2 An Inversion-Based Feedforward Approach  for Linear Dynamics {#9-dot-3-dot-2-an-inversion-based-feedforward-approach-for-linear-dynamics}
+
+
+#### 9.3.3 Frequency-Weighted Inversion: The Optimal Inverse {#9-dot-3-dot-3-frequency-weighted-inversion-the-optimal-inverse}
+
+
+#### 9.3.4 Application to AFM Imaging {#9-dot-3-dot-4-application-to-afm-imaging}
+
+
+### 9.4 Feedforward and Feedback Control {#9-dot-4-feedforward-and-feedback-control}
+
+
+#### 9.4.1 Application to AFM Imaging {#9-dot-4-dot-1-application-to-afm-imaging}
+
+
+### 9.5 Iterative Feedforward Control {#9-dot-5-iterative-feedforward-control}
+
+
+#### 9.5.1 The ILC Problem {#9-dot-5-dot-1-the-ilc-problem}
+
+
+#### 9.5.2 Model-Based ILC {#9-dot-5-dot-2-model-based-ilc}
+
+
+#### 9.5.3 Nonlinear ILC {#9-dot-5-dot-3-nonlinear-ilc}
+
+
+#### 9.5.4 Conclusions {#9-dot-5-dot-4-conclusions}
+
+
+### References {#references}
+
+
+## 10 Command Shaping {#10-command-shaping}
+
+
+### 10.1 Introduction {#10-dot-1-introduction}
+
+
+#### 10.1.1 Background {#10-dot-1-dot-1-background}
+
+
+#### 10.1.2 The Optimal Periodic Input {#10-dot-1-dot-2-the-optimal-periodic-input}
+
+
+### 10.2 Signal Optimization {#10-dot-2-signal-optimization}
+
+
+### 10.3 Frequency Domain Cost Functions {#10-dot-3-frequency-domain-cost-functions}
+
+
+#### 10.3.1 Background: Discrete Fourier Series {#10-dot-3-dot-1-background-discrete-fourier-series}
+
+
+#### 10.3.2 Minimizing Signal Power {#10-dot-3-dot-2-minimizing-signal-power}
+
+
+#### 10.3.3 Minimizing Frequency Weighted Power {#10-dot-3-dot-3-minimizing-frequency-weighted-power}
+
+
+#### 10.3.4 Minimizing Velocity and Acceleration {#10-dot-3-dot-4-minimizing-velocity-and-acceleration}
+
+
+#### 10.3.5 Single-Sided Frequency Domain Calculations {#10-dot-3-dot-5-single-sided-frequency-domain-calculations}
+
+
+### 10.4 Time Domain Cost Function {#10-dot-4-time-domain-cost-function}
+
+
+#### 10.4.1 Minimum Velocity {#10-dot-4-dot-1-minimum-velocity}
+
+
+#### 10.4.2 Minimum Acceleration {#10-dot-4-dot-2-minimum-acceleration}
+
+
+#### 10.4.3 Frequency Weighted Objectives {#10-dot-4-dot-3-frequency-weighted-objectives}
+
+
+### 10.5 Application to Scan Generation {#10-dot-5-application-to-scan-generation}
+
+
+#### 10.5.1 Choosing β and K {#10-dot-5-dot-1-choosing-β-and-k}
+
+
+#### 10.5.2 Improving Feedback and Feedforward Controllers {#10-dot-5-dot-2-improving-feedback-and-feedforward-controllers}
+
+
+### 10.6 Comparison to Other Techniques {#10-dot-6-comparison-to-other-techniques}
+
+
+### 10.7 Experimental Application {#10-dot-7-experimental-application}
+
+
+### 10.8 Chapter Summary {#10-dot-8-chapter-summary}
+
+
+### References {#references}
+
+
+## 11 Hysteresis Modeling and Control {#11-hysteresis-modeling-and-control}
+
+
+### 11.1 Introduction {#11-dot-1-introduction}
+
+
+### 11.2 Modeling Hysteresis {#11-dot-2-modeling-hysteresis}
+
+
+#### 11.2.1 Simple Polynomial Model {#11-dot-2-dot-1-simple-polynomial-model}
+
+
+#### 11.2.2 Maxwell Slip Model {#11-dot-2-dot-2-maxwell-slip-model}
+
+
+#### 11.2.3 Duhem Model {#11-dot-2-dot-3-duhem-model}
+
+
+#### 11.2.4 Preisach Model {#11-dot-2-dot-4-preisach-model}
+
+
+#### 11.2.5 Classical Prandlt-Ishlinksii Model {#11-dot-2-dot-5-classical-prandlt-ishlinksii-model}
+
+
+### 11.3 Feedforward Hysteresis Compensation {#11-dot-3-feedforward-hysteresis-compensation}
+
+
+#### 11.3.1 Feedforward Control Using the Presiach Model {#11-dot-3-dot-1-feedforward-control-using-the-presiach-model}
+
+
+#### 11.3.2 Feedforward Control Using the Prandlt-Ishlinksii Model {#11-dot-3-dot-2-feedforward-control-using-the-prandlt-ishlinksii-model}
+
+
+### 11.4 Chapter Summary {#11-dot-4-chapter-summary}
+
+
+### References {#references}
+
+
+## 12 Charge Drives {#12-charge-drives}
+
+
+### 12.1 Introduction {#12-dot-1-introduction}
+
+
+### 12.2 Charge Drives {#12-dot-2-charge-drives}
+
+
+### 12.3 Application to Piezoelectric Stack Nanopositioners {#12-dot-3-application-to-piezoelectric-stack-nanopositioners}
+
+
+### 12.4 Application to Piezoelectric Tube Nanopositioners {#12-dot-4-application-to-piezoelectric-tube-nanopositioners}
+
+
+### 12.5 Alternative Electrode Configurations {#12-dot-5-alternative-electrode-configurations}
+
+
+#### 12.5.1 Grounded Internal Electrode {#12-dot-5-dot-1-grounded-internal-electrode}
+
+
+#### 12.5.2 Quartered Internal Electrode {#12-dot-5-dot-2-quartered-internal-electrode}
+
+
+### 12.6 Charge Versus Voltage {#12-dot-6-charge-versus-voltage}
+
+
+#### 12.6.1 Advantages {#12-dot-6-dot-1-advantages}
+
+
+#### 12.6.2 Disadvantages {#12-dot-6-dot-2-disadvantages}
+
+
+### 12.7 Impact on Closed-Loop Control {#12-dot-7-impact-on-closed-loop-control}
+
+
+### 12.8 Chapter Summary {#12-dot-8-chapter-summary}
+
+
+### References {#references}
+
+
+## 13 Noise in Nanopositioning Systems {#13-noise-in-nanopositioning-systems}
+
+
+### 13.1 Introduction {#13-dot-1-introduction}
+
+
+### 13.2 Review of Random Processes {#13-dot-2-review-of-random-processes}
+
+
+#### 13.2.1 Probability Distributions {#13-dot-2-dot-1-probability-distributions}
+
+
+#### 13.2.2 Expected Value, Moments, Variance, and RMS {#13-dot-2-dot-2-expected-value-moments-variance-and-rms}
+
+
+#### 13.2.3 Gaussian Random Variables {#13-dot-2-dot-3-gaussian-random-variables}
+
+
+#### 13.2.4 Continuous Random Processes {#13-dot-2-dot-4-continuous-random-processes}
+
+
+#### 13.2.5 Joint Density Functions and Stationarity {#13-dot-2-dot-5-joint-density-functions-and-stationarity}
+
+
+#### 13.2.6 Correlation Functions {#13-dot-2-dot-6-correlation-functions}
+
+
+#### 13.2.7 Gaussian Random Processes {#13-dot-2-dot-7-gaussian-random-processes}
+
+
+#### 13.2.8 Power Spectral Density {#13-dot-2-dot-8-power-spectral-density}
+
+
+#### 13.2.9 Filtered Random Processes {#13-dot-2-dot-9-filtered-random-processes}
+
+
+#### 13.2.10 White Noise {#13-dot-2-dot-10-white-noise}
+
+
+#### 13.2.11 Spectral Density in V/sqrtHz {#13-dot-2-dot-11-spectral-density-in-v-sqrthz}
+
+
+#### 13.2.12 Single- and Double-Sided Spectra {#13-dot-2-dot-12-single-and-double-sided-spectra}
+
+
+### 13.3 Resolution and Noise {#13-dot-3-resolution-and-noise}
+
+
+### 13.4 Sources of Nanopositioning Noise {#13-dot-4-sources-of-nanopositioning-noise}
+
+
+#### 13.4.1 Sensor Noise {#13-dot-4-dot-1-sensor-noise}
+
+
+#### 13.4.2 External Noise {#13-dot-4-dot-2-external-noise}
+
+
+#### 13.4.3 Amplifier Noise {#13-dot-4-dot-3-amplifier-noise}
+
+
+### 13.5 Closed-Loop Position Noise {#13-dot-5-closed-loop-position-noise}
+
+
+#### 13.5.1 Noise Sensitivity Functions {#13-dot-5-dot-1-noise-sensitivity-functions}
+
+
+#### 13.5.2 Closed-Loop Position Noise Spectral Density {#13-dot-5-dot-2-closed-loop-position-noise-spectral-density}
+
+
+#### 13.5.3 Closed-Loop Noise Approximations with Integral Control {#13-dot-5-dot-3-closed-loop-noise-approximations-with-integral-control}
+
+
+#### 13.5.4 Closed-Loop Position Noise Variance {#13-dot-5-dot-4-closed-loop-position-noise-variance}
+
+
+#### 13.5.5 A Note on Units {#13-dot-5-dot-5-a-note-on-units}
+
+
+### 13.6 Simulation Examples {#13-dot-6-simulation-examples}
+
+
+#### 13.6.1 Integral Controller Noise Simulation {#13-dot-6-dot-1-integral-controller-noise-simulation}
+
+
+#### 13.6.2 Noise Simulation with Inverse Model Controller {#13-dot-6-dot-2-noise-simulation-with-inverse-model-controller}
+
+
+#### 13.6.3 Feedback Versus Feedforward Control {#13-dot-6-dot-3-feedback-versus-feedforward-control}
+
+
+### 13.7 Practical Frequency Domain Noise Measurements {#13-dot-7-practical-frequency-domain-noise-measurements}
+
+
+#### 13.7.1 Preamplification {#13-dot-7-dot-1-preamplification}
+
+
+#### 13.7.2 Spectrum Estimation {#13-dot-7-dot-2-spectrum-estimation}
+
+
+#### 13.7.3 Direct Measurement of Position Noise {#13-dot-7-dot-3-direct-measurement-of-position-noise}
+
+
+#### 13.7.4 Measurement of the External Disturbance {#13-dot-7-dot-4-measurement-of-the-external-disturbance}
+
+
+### 13.8 Experimental Demonstration {#13-dot-8-experimental-demonstration}
+
+
+### 13.9 Time-Domain Noise Measurements {#13-dot-9-time-domain-noise-measurements}
+
+
+#### 13.9.1 Total Integrated Noise {#13-dot-9-dot-1-total-integrated-noise}
+
+
+#### 13.9.2 Estimating the Position Noise {#13-dot-9-dot-2-estimating-the-position-noise}
+
+
+#### 13.9.3 Practical Considerations {#13-dot-9-dot-3-practical-considerations}
+
+
+#### 13.9.4 Experimental Demonstration {#13-dot-9-dot-4-experimental-demonstration}
+
+
+### 13.10 A Simple Method for Measuring the Resolution  of Nanopositioning Systems {#13-dot-10-a-simple-method-for-measuring-the-resolution-of-nanopositioning-systems}
+
+
+### 13.11 Techniques for Improving Resolution {#13-dot-11-techniques-for-improving-resolution}
+
+
+### 13.12 Chapter Summary {#13-dot-12-chapter-summary}
+
+
+### References {#references}
+
+
+## 14 Electrical Considerations {#14-electrical-considerations}
+
+
+### 14.1 Introduction {#14-dot-1-introduction}
+
+
+### 14.2 Bandwidth Limitations {#14-dot-2-bandwidth-limitations}
+
+
+#### 14.2.1 Passive Bandwidth Limitations {#14-dot-2-dot-1-passive-bandwidth-limitations}
+
+
+#### 14.2.2 Amplifier Bandwidth {#14-dot-2-dot-2-amplifier-bandwidth}
+
+
+#### 14.2.3 Current and Power Limitations {#14-dot-2-dot-3-current-and-power-limitations}
+
+
+### 14.3 Dual-Amplifier {#14-dot-3-dual-amplifier}
+
+
+#### 14.3.1 Circuit Operation {#14-dot-3-dot-1-circuit-operation}
+
+
+#### 14.3.2 Range Considerations {#14-dot-3-dot-2-range-considerations}
+
+
+### 14.4 Electrical Design {#14-dot-4-electrical-design}
+
+
+#### 14.4.1 High-Voltage Stage {#14-dot-4-dot-1-high-voltage-stage}
+
+
+#### 14.4.2 Low-Voltage Stage {#14-dot-4-dot-2-low-voltage-stage}
+
+
+#### 14.4.3 Cabling and Interconnects {#14-dot-4-dot-3-cabling-and-interconnects}
+
+
+### 14.5 Chapter Summary {#14-dot-5-chapter-summary}
+
+
+### References {#references}
+
+
+## Bibliography {#bibliography}
+
+<a id="org2385d08"></a>Fleming, Andrew J., and Kam K. Leang. 2014. _Design, Modeling and Control of Nanopositioning Systems_. Advances in Industrial Control. Springer International Publishing. <https://doi.org/10.1007/978-3-319-06617-2>.