Re-export everything

content/zettels/feedforward_control.md

@@ -11,14 +11,12 @@ Tags
 
 Depending on the physical system to be controlled, several feedforward controllers can be used:
 
--   [Rigid body feedforward](#org-target--sec-rigid-body-feedforward)
--   [Fourth order feedforward](#org-target--sec-fourth-order-feedforward)
--   [Model based feedforward](#org-target--sec-model-based-feedforward)
+-   [Rigid body feedforward](#sec:rigid_body_feedforward)
+-   [Fourth order feedforward](#sec:fourth_order_feedforward)
+-   [Model based feedforward](#sec:model_based_feedforward)
 
 
-## Rigid Body Feedforward {#rigid-body-feedforward}
-
-<span class="org-target" id="org-target--sec-rigid-body-feedforward"></span>
+## Rigid Body Feedforward {#sec:rigid_body_feedforward}
 
 Second order trajectory planning: the acceleration and velocity can be bound to wanted values.
 
@@ -36,9 +34,7 @@ F\_{ff} = m a + c v
 \end{equation}
 
 
-## Fourth Order Feedforward {#fourth-order-feedforward}
-
-<span class="org-target" id="org-target--sec-fourth-order-feedforward"></span>
+## Fourth Order Feedforward {#sec:fourth_order_feedforward}
 
 The main advantage of "fourth order feedforward" is that it takes into account the flexibility in the system (one resonance between the actuation point and the measurement point, see [Figure 2](#figure--fig:feedforward-double-mass-system)).
 This can lead to better results than second order trajectory planning as demonstrated [here](https://www.20sim.com/control-engineering/snap-feedforward/).
@@ -110,9 +106,7 @@ The same architecture shown in [Figure 3](#figure--fig:feedforward-fourth-order-
 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_1">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>
+## Model Based Feedforward Control for Second Order resonance plant {#sec:model_based_feedforward}
 
 See (<a href="#citeproc_bib_item_2">Schmidt, Schitter, and Rankers 2020</a>) (Section 4.2.1).