remove empty bibliography

content/article/mcinroy99_dynam.md

@@ -53,7 +53,7 @@ In order to provide low frequency passive vibration isolation, the hard actuator
 <a id="table--tab:mcinroy99-strut-model"></a>
 <div class="table-caption">
   <span class="table-number"><a href="#table--tab:mcinroy99-strut-model">Table 1</a>:</span>
-  Definition of quantities on <a href="#orgcbfa359">2</a>
+  Definition of quantities on <a href="#orgfe6d4ea">2</a>
 </div>
 
 | **Symbol**                   | **Meaning**                                |

content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md

@@ -454,7 +454,7 @@ The core of the control system is the _plant_, which is the physical system that
 <a id="table--tab:walk-control-loop"></a>
 <div class="table-caption">
   <span class="table-number"><a href="#table--tab:walk-control-loop">Table 3</a>:</span>
-  Symbols used in <a href="#orge4ef23e">3</a>
+  Symbols used in <a href="#orgda28b83">3</a>
 </div>
 
 | Symbol     | Meaning                              | Unit |

content/websites/data_driven_dynamical_systems_with_machine_learning.md

@@ -179,9 +179,3 @@ Use powerful optimization techniques from machine learning to learn what are goo
 
 
 ### Applications {#applications}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/acquisition_systems.md

@@ -20,9 +20,3 @@ Tags
 | [Oros](https://www.oros.com/)                                                                      | France   |
 | [National Instruments](https://www.ni.com/fr-fr/shop/pc-based-measurement-and-control-system.html) | USA      |
 | [Gantner](https://www.gantner-instruments.com/products/daq-systems/)                               | Austria  |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/active_damping.md

@@ -17,6 +17,3 @@ There are two main control architecture to actively damp structures:
 The idea is to apply a force proportional to the velocity (either relative or inertial) of the structure.
 
 These are usually applied in a collocated way, meaning that the actuator and sensors are collocated (fixed to the same DoF), in order to have guaranteed stability.
-
-
-## Bibliography {#bibliography}

content/zettels/active_isolation_platforms.md

@@ -31,9 +31,3 @@ Tags
 | Manufacturer | links                            | Country |
 |--------------|----------------------------------|---------|
 | ACE          | [link](https://www.ace-ace.com/) | Germany |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/air_bearing.md

@@ -68,9 +68,3 @@ Due to the porous nature, even if some of the holes become clogged or damaged, t
 
 
 ## Spindle Air Bearing {#spindle-air-bearing}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/anti_windup_control.md

@@ -22,16 +22,16 @@ In order to implement anti-windup, the integrator usually has to be **explicit**
 This is one of the reasons why the PID controller is so useful: the integral action is clearly separated from the other terms.
 
 
-### Anti-windup strategies {#anti-windup-strategies}
+## Anti-windup strategies {#anti-windup-strategies}
 
 
-#### Conditional integration (integrator clamping) {#conditional-integration--integrator-clamping}
+### Conditional integration (integrator clamping) {#conditional-integration--integrator-clamping}
 
 The integrator is simply stopped (or reset) when the actuator is saturated.
 For instance, the integration is frozen as long as \\(u \neq \text{sat}(u)\\), possibly only if the error would further increase the saturation (i.e. same sign of \\(u\\) and \\(e\\)).
 
 
-#### Back-calculation {#back-calculation}
+### Back-calculation {#back-calculation}
 
 The difference between the saturated and the requested control signal, \\(e\_s = \text{sat}(u) - u\\), is fed back to the integrator input through a gain \\(1/T\_t\\):
 
@@ -42,9 +42,3 @@ The difference between the saturated and the requested control signal, \\(e\_s =
 When there is no saturation, \\(e\_s = 0\\) and the controller behaves as usual.
 When saturated, the integrator state is driven so that \\(u\\) tracks the saturation limit.
 The tracking time constant \\(T\_t\\) sets how fast the integrator is unwound (a common choice is \\(T\_t = \sqrt{T\_i T\_d}\\) or \\(T\_t = T\_i\\)).
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/bipolar_transistor.md

@@ -11,9 +11,3 @@ Tags
 <a id="figure--fig:bipolar-transistor-basic-circuits"></a>
 
 {{< figure src="/ox-hugo/bipolar_transistor_basic_circuits.svg" caption="<span class='figure-number'>Figure 1: </span>5 basic circuits using the bipolar transistor" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/brushless_dc_motor.md

@@ -22,9 +22,3 @@ Tags
 | [Faulhaber](https://www.faulhaber.com/en/products/brushless-dc-motors/)                    |         |
 | [Maxon](https://www.maxongroup.com/maxon/view/content/Overview-brushless-DC-motors)        |         |
 | [OrientalMotors](https://www.orientalmotor.com/brushless-dc-motors-gear-motors/index.html) |         |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/bumpless_transfer.md

@@ -36,9 +36,3 @@ If the PID is the last element of the chain, its output is \\(u\\) and the track
 
 Filters without integrator (notch, low-pass, lead, lag) have fast dynamics and do not need any tracking.
 The offline chain is simply run in parallel, fed with the same error signal \\(e\\), and its states converge by themselves.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/cables.md

@@ -37,9 +37,3 @@ Tags
 
 -   <https://www.gore.com/products/gore-high-flex-cables-assemblies-lithography>
 -   <https://www.igus.eu/info/energychains>
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/capacitive_sensors.md

@@ -40,9 +40,3 @@ Tags
 | Micro-Epsilon DL6230 | 0.005% (5kHz)       | 0.000070                | 0.05%     |
 | Lion CPL290          | 0.003% (15kHz)      | 0.000025                | <0.2%  |
 | PI                   | 0.002% (3kHz)       | 0.000036                | <0.1   |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/cia402.md

@@ -32,9 +32,3 @@ It was defined for CANopen and is also used over EtherCAT (CoE, CANopen over Eth
 -   In CSP, the drive internal loop still does the actual control, the master only provides setpoints.
 -   A generic CiA 402 block can be reused across compatible drives.
     The ESI file, PDO mapping, units, optional objects and vendor quirks are still drive specific.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/communication_protocol.md

@@ -45,9 +45,3 @@ ASCII
 
 
 ### EtherCAT {#ethercat}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/connectors.md

@@ -26,9 +26,3 @@ BNC connectors can have an impedance of 50Ohms or 75Ohms as shown in [Figure 1](
 <a id="figure--fig:bnc-50-75-ohms"></a>
 
 {{< figure src="/ox-hugo/bnc_50_75_ohms.jpg" caption="<span class='figure-number'>Figure 1: </span>75Ohms and 50Ohms BNC connectors" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/continuous_transfer_functions.md

@@ -244,9 +244,3 @@ H = a*(1 + s/(wc*sqrt(a)))/(1 + s/(wc/sqrt(a)));
 <a id="figure--fig:filter-lag"></a>
 
 {{< figure src="/ox-hugo/filter_lag.png" caption="<span class='figure-number'>Figure 9: </span>Lag filter, effect of the parameter \\(a\\)" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/decoupled_control.md

@@ -90,9 +90,3 @@ At higher frequency, the inertia becomes important and the system is coupled: us
 <a id="figure--fig:decoupled-control-high-freq-act-1"></a>
 
 {{< figure src="/ox-hugo/decoupled_control_high_freq_act_1.gif" caption="<span class='figure-number'>Figure 6: </span>Left actuator at 1 Hz (above the suspension modes): the system is coupled, the body translates and rotates" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/differential_pairs.md

@@ -14,9 +14,3 @@ Tags
 <https://www.youtube.com/watch?v=QG0Apol-oj0>
 
 > One of the main reasons that differential pairs are used whether is between systems, whether is between boards and a system, or whether is across a circuit board, is so that the circuit will ignore offset in ground.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/digital_filters.md

@@ -83,9 +83,3 @@ By developing the relation and using the fact that \\(z^{-1} x[n] = x[n-1]\\), w
 y[n] &= a (x[n] + x[n-1]) + b y[n-1] \\\\
      &= \left( \frac{2}{T\_s \omega\_0} + 1 \right) (x[n] + x[n-1]) + \left(\frac{2}{T\_s\omega\_0} - 1\right) y[n-1]
 \end{align}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/digital_to_analog_converters.md

@@ -8,9 +8,3 @@ subcategory = "Conversion and Acquisition"
 
 Tags
 : [Electronics]({{< relref "electronics.md" >}})
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/direct_velocity_feedback.md

@@ -8,9 +8,3 @@ subcategory = "Vibration Control"
 
 Tags
 : [Active Damping]({{< relref "active_damping.md" >}})
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/discrete_transfer_functions.md

@@ -44,20 +44,20 @@ The Matlab [Symbolic Toolbox](https://fr.mathworks.com/help/symbolic/) can be us
 Let's consider a notch filter:
 
 \begin{equation}
-  G(s) = \frac{s^2 + 2 g\_c \xi \omega\_n s + \omega\_n^2}{s^2 + 2 \xi \omega\_n s + \omega\_n^2}
+  G(s) = \frac{s^2 + 2 g\_c \zeta \omega\_n s + \omega\_n^2}{s^2 + 2 \zeta \omega\_n s + \omega\_n^2}
 \end{equation}
 
 with:
 
 -   \\(\omega\_n\\): frequency of the notch
 -   \\(g\_c\\): gain at the notch frequency
--   \\(\xi\\): damping ratio (notch width)
+-   \\(\zeta\\): damping ratio (notch width)
 
 First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable).
 
 ```matlab
 %% Declaration of the symbolic variables
-syms gc wn xi Ts s z
+syms gc wn zeta Ts s z
 ```
 
 Then the bi-linear transformation is performed to go from continuous to discrete:
@@ -71,7 +71,7 @@ The symbolic formula of the notch filter is defined:
 
 ```matlab
 %% Notch Filter - Symbolic representation
-Ga = (s^2 + 2*xi*gc*s*wn + wn^2)/(s^2 + 2*xi*s*wn + wn^2);
+Ga = (s^2 + 2*zeta*gc*s*wn + wn^2)/(s^2 + 2*zeta*s*wn + wn^2);
 ```
 
 Finally, the numerator and denominator coefficients can be extracted:
@@ -90,7 +90,7 @@ org_babel_eoe
 ```
 
 ```text
-den = (Ts^2*wn^2 - 4*Ts*wn*xi + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*wn*xi + 4) * z^2
+den = (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*wn*zeta + 4) * z^2
 ```
 
 
@@ -99,19 +99,19 @@ den = (Ts^2*wn^2 - 4*Ts*wn*xi + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*w
 Let's consider a second order low pass filter:
 
 \begin{equation}
-  G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
+  G(s) = \frac{1}{1 + 2 \zeta \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
 \end{equation}
 
 with:
 
 -   \\(\omega\_n\\): Cut off frequency
--   \\(\xi\\): damping ratio
+-   \\(\zeta\\): damping ratio
 
 First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable).
 
 ```matlab
 %% Declaration of the symbolic variables
-syms wn xi Ts s z
+syms wn zeta Ts s z
 ```
 
 Then the bi-linear transformation is performed to go from continuous to discrete:
@@ -125,7 +125,7 @@ The symbolic formula of the notch filter is defined:
 
 ```matlab
 %% Second Order Low Pass Filter - Symbolic representation
-Ga = 1/(1 + 2*xi*s/wn + s^2/wn^2);
+Ga = 1/(1 + 2*zeta*s/wn + s^2/wn^2);
 ```
 
 Finally, the numerator and denominator coefficients can be extracted:
@@ -140,7 +140,7 @@ den = coeffs(D, z);
 ```
 
 ```text
-gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4)
+gain = 1/(Ts^2*wn^2 + 4*Ts*wn*zeta + 4)
 ```
 
 ```text
@@ -148,7 +148,7 @@ num = (Ts^2*wn^2) + (2*Ts^2*wn^2) * z^-1 + (Ts^2*wn^2) * z^-2
 ```
 
 ```text
-den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2
+den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) * z^-2
 ```
 
 And the transfer function is equal to `gain * num/den`.
@@ -214,19 +214,19 @@ And the transfer function is equal to `gain * num/den`.
 Let's consider a second order low pass filter:
 
 \begin{equation}
-  G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
+  G(s) = \frac{1}{1 + 2 \zeta \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
 \end{equation}
 
 with:
 
 -   \\(\omega\_n\\): Cut off frequency
--   \\(\xi\\): damping ratio
+-   \\(\zeta\\): damping ratio
 
 First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable).
 
 ```matlab
 %% Declaration of the symbolic variables
-syms wn xi Ts s z
+syms wn zeta Ts s z
 ```
 
 Then the bi-linear transformation is performed to go from continuous to discrete:
@@ -240,7 +240,7 @@ The symbolic formula of the notch filter is defined:
 
 ```matlab
 %% Second Order Low Pass Filter - Symbolic representation
-Ga = (s^2/wn^2)/(1 + 2*xi*s/wn + s^2/wn^2);
+Ga = (s^2/wn^2)/(1 + 2*zeta*s/wn + s^2/wn^2);
 ```
 
 Finally, the numerator and denominator coefficients can be extracted:
@@ -255,7 +255,7 @@ den = coeffs(D, z);
 ```
 
 ```text
-gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4)
+gain = 1/(Ts^2*wn^2 + 4*Ts*wn*zeta + 4)
 ```
 
 ```text
@@ -263,7 +263,7 @@ num = (4) + (-8) * z^-1 + (4) * z^-2
 ```
 
 ```text
-den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2
+den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*zeta + 4) * z^-2
 ```
 
 And the transfer function is equal to `gain * num/den`.
@@ -309,9 +309,3 @@ The coefficients are simply computed with a Matlab function.
 
 
 ### Moving Average {#moving-average}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/eddy_current_sensors.md

@@ -20,9 +20,3 @@ Tags
 | [Kaman](https://www.kamansensors.com/product/smt-9700/)                                           | USA         |
 | [Keyence](https://www.keyence.com/ss/products/measure/measurement_library/type/inductive/)        | USA         |
 | [Althen](https://www.althensensors.com/sensors/linear-position-sensors/eddy-current-sensors/)     | Netherlands |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electrical_impedance.md

@@ -17,9 +17,3 @@ Tags
 ## LCR Meter {#lcr-meter}
 
 -   <https://www.thinksrs.com/products/sr715720.html>
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electromagnetism.md

@@ -42,9 +42,3 @@ This is a voltage source (EMF), where the current is driven in the direction of
 \end{equation}
 
 The line integral of the magnetic field over a closed loop L is proportional to the current through the surface S enclosed by the loop L.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electronic_active_filters.md

@@ -48,9 +48,3 @@ With:
 ## PID controller {#pid-controller}
 
 See [The design of high performance mechatronics - third revised edition]({{< relref "schmidt20_desig_high_perfor_mechat_third_revis_edition.md" >}}) (Chapter 6.2.6).
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electronic_noise.md

@@ -70,9 +70,3 @@ The identification of this noise is a two steps process:
     The output noise is measured and \\(V^2\\) in \\([V^2/Hz]\\) is identified
 2.  The amplifier input is open-circuited such that only \\(I^2(f)\\) has an impact on the output.
     The output noise is measured and \\(I^2(f)\\) in \\([A^2/Hz]\\) is identified.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electronic_passive_filters.md

@@ -105,9 +105,3 @@ Z = L*s + (R)/(1 + R*C*s); % Filter Impedance
 <a id="figure--fig:analog-filt-second-order-hpf"></a>
 
 {{< figure src="/ox-hugo/analog_filt_second_order_hpf.png" caption="<span class='figure-number'>Figure 7: </span>Second Order High Pass Filter using an RLC circuit" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/electronics.md

@@ -7,9 +7,3 @@ category = "Electronics"
 
 Tags
 :
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/encoders.md

@@ -41,9 +41,3 @@ Absolute:
 
 -   No problem of "missed" steps
 -   May add some delay
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/feedback_control.md

@@ -8,6 +8,3 @@ subcategory = "Fundamentals"
 
 Tags
 :
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/fractional_order_transfer_functions.md

@@ -43,9 +43,3 @@ Few examples of different slopes are shown in [Figure 1](#figure--fig:approximat
 <a id="figure--fig:approximate-deriv-int"></a>
 
 {{< figure src="/ox-hugo/approximate_deriv_int.png" caption="<span class='figure-number'>Figure 1: </span>Example of fractional approximations" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/granite.md

@@ -17,9 +17,3 @@ Tags
 | [Microplan](https://www.microplan-group.com/fr/) | France      |
 | [Zali](http://zali-precision.it/en/products/)    | Italy       |
 | [Mytri](https://www.mytri.nl/en)                 | Netherlands |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/h_infinity_control.md

@@ -17,9 +17,3 @@ From _Rosenbrock, H. H. (1974). Computer-Aided Control System Design, Academic P
 > Solutions are constrained by so many requirements that it is virtually impossible to list them all.
 > The designer finds himself threading a maze of such requirements, attempting to reconcile conflicting demands of cost, performance, easy maintenance, and so on.
 > A good design usually has strong aesthetic appeal to those who are competent in the subject.
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/heat_transfer.md

@@ -208,9 +208,3 @@ with:
 -   \\(Q\\) the heat in [W]
 -   \\(R\_T\\) the thermal resistance in \\([K/W]\\)
 -   \\(C\_T\\) the thermal conductance in \\([W/K]\\)
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/icepap.md

@@ -18,9 +18,3 @@ Tags
 To get the status of one axis: `5:?vstatus` (`5` is the axis index).
 
 Then, if there is some warning, to get more information, use `5:?warning`.
-
-
-## Bibliography {#bibliography}
-
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content/zettels/instrumented_hammer.md

@@ -19,9 +19,3 @@ And instrumented hammer consist of a regular hammer with a force sensor fixed at
 | [PCB](https://www.pcb.com/sensors-for-test-measurement/impact-hammers-electrodynamic-shakers/impact-hammers) | USA      |
 | [DJB](https://www.djbinstruments.com/products/instrumentation/impact-hammers)                                | UK       |
 | [Dewesoft](https://dewesoft.com/fr/products/interfaces-and-sensors/accelerometers-and-modal-hammers)         | Slovenia |
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content/zettels/interaction_analysis.md

@@ -64,9 +64,3 @@ RGA_number = sum(sum(abs(RGA - eye(size(RGA)))));
 ```
 
 For a plant evaluated over frequency, this is computed at each frequency point of the frequency response.
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content/zettels/interpolation.md

@@ -29,9 +29,3 @@ y = sinc(Ts - T)*x;
 <a id="figure--fig:interpolation-perfect-example"></a>
 
 {{< figure src="/ox-hugo/interpolation_perfect_example.png" caption="<span class='figure-number'>Figure 1: </span>Sampled and interpolated signals" >}}
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content/zettels/laplace_transform.md

@@ -35,9 +35,3 @@ Laplace transform:
 
 
 ### Electrical System {#electrical-system}
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content/zettels/linear_brushless_motor.md

@@ -55,9 +55,3 @@ Vacuum compatible linear motors:
 | [Chieftek](http://www.chieftek.com/product-cls.asp)                                                              | Taiwan  |
 | [Transtechnik](https://www.transtechnik.fr/range/gamme-de-moteurs-lineaires-avec-mecanique-de-guidage-integree/) | France  |
 | [Monticont](http://www.pwr-con.com/ecommerce/default.asp?cat=Linear+Brushless+Motor+Driven+Stage)                |         |
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content/zettels/linear_guides.md

@@ -24,9 +24,3 @@ Tags
 {{< figure src="/ox-hugo/linear_bearing_comp.png" caption="<span class='figure-number'>Figure 1: </span>Comparison of different linear guides" >}}
 
 {{< figure src="/ox-hugo/linear_bearing_cross_section.png" caption="<span class='figure-number'>Figure 2: </span>Cross section of considered linear guides" >}}
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content/zettels/linear_variable_differential_transformers.md

@@ -17,9 +17,3 @@ Tags
 | [Micro-Epsilon](https://www.micro-epsilon.com/displacement-position-sensors/inductive-sensor-lvdt/) | Germany     |
 | [Keyence](https://www.keyence.eu/products/measure/contact-distance-lvdt/gt2/index.jsp)              | USA         |
 | [Althen](https://www.althensensors.com/sensors/linear-position-sensors/lvdt-sensors/)               | Netherlands |
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content/zettels/loop_shaping.md

@@ -16,9 +16,3 @@ Loop Gain
 Typical wanted loop gain shape
 
 Tools for loop-shaping
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content/zettels/mass_spring_damper_systems.md

@@ -189,9 +189,3 @@ The transfer functions from \\(F\_2\\) to the mass displacements are shown in [F
 <a id="figure--fig:mass-spring-damper-flex-above"></a>
 
 {{< figure src="/ox-hugo/mass_spring_damper_flex_above.png" caption="<span class='figure-number'>Figure 8: </span>2 DoF Mass Spring Damper system" >}}
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content/zettels/materials.md

@@ -23,9 +23,3 @@ Tags
 | Invar           | 148                   | 1.3                                   | 8       | 10.2                        |
 | Stainless Steel | 190                   | 10.8                                  | 8       | 17                          |
 | Titanium        | 108                   | 8.6                                   | 4.5     | 16.3                        |
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content/zettels/metrology.md

@@ -7,9 +7,3 @@ category = "Precision Engineering"
 
 Tags
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content/zettels/modal_analysis.md

@@ -7,9 +7,3 @@ category = "Signals and Systems"
 
 Tags
 : [Inertial Sensors]({{< relref "inertial_sensors.md" >}}), [Shaker]({{< relref "shaker.md" >}})
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content/zettels/modal_decomposition.md

@@ -7,9 +7,3 @@ category = "Signals and Systems"
 
 Tags
 : [Modal Analysis]({{< relref "modal_analysis.md" >}})
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content/zettels/motion_control.md

@@ -8,9 +8,3 @@ subcategory = "Motion Control"
 
 Tags
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content/zettels/motor_commutation.md

@@ -93,9 +93,3 @@ I\_{q} &= I\_{\beta}  \cos(\theta) - I\_{\alpha} \sin(\theta)
 I\_{\alpha} &= I\_d \cos(\theta) - I\_q \sin(\theta) \\\\
 I\_{\beta}  &= I\_d \sin(\theta) + I\_q \cos(\theta)
 \end{align}
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content/zettels/nano_active_stabilization_system.md

@@ -8,9 +8,3 @@ subcategory = "ESRF Specific"
 
 Tags
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content/zettels/nonlinear_control.md

@@ -10,9 +10,3 @@ Tags
 :
 
 Lecture about Nonlinear Systems at MIT ([link](http://web.mit.edu/nsl/www/videos/lectures.html)).
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content/zettels/nyquist_stability_criterion.md

@@ -67,9 +67,3 @@ end
 
 Then, compute the eigenvalues of this open-loop gain:
 Finally, plot the (complex) eigenvalues in the complex plane:
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content/zettels/operational_amplifiers.md

@@ -12,9 +12,3 @@ Tags
 ## Defaults of Operational Amplifiers {#defaults-of-operational-amplifiers}
 
 {{< youtube nF104EvI0HM >}}
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content/zettels/optical_fibers.md

@@ -31,9 +31,3 @@ Otherwise, APC connectors are used.
 ## Multi-mode and Single-mode fibers {#multi-mode-and-single-mode-fibers}
 
 If laser is used (fiber interferometer for instance), a single-mode fiber should be used and the wavelength of the mode should be matched with the wavelength of the laser.
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content/zettels/optics.md

@@ -8,9 +8,3 @@ subcategory = "Optics"
 
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content/zettels/parallel_manipulators.md

@@ -7,9 +7,3 @@ category = "Mechanics and Physics"
 
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content/zettels/passive_damping.md

@@ -23,9 +23,3 @@ Vacuum compatible viscoelastic materials:
 
 
 ## [Tuned Mass Damper]({{< relref "tuned_mass_damper.md" >}}) {#tuned-mass-damper--tuned-mass-damper-dot-md}
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content/zettels/permanent_magnets.md

@@ -12,9 +12,3 @@ Tags
 ## Neodymium Magnets {#neodymium-magnets}
 
 <https://www.kjmagnetics.com/>
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content/zettels/position_jitter_due_to_asynchronous_acquisition.md

@@ -142,9 +142,3 @@ Ideally, this is the control system (i.e. where the feedback controller is imple
 Having a intermediate electronic device (here the PEPU) that triggers the readout of the encoders not in sync with the controller can affect quite negatively the quality of the motion.
 
 </div>
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content/zettels/precision_engineering.md

@@ -7,9 +7,3 @@ category = "Precision Engineering"
 
 Tags
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content/zettels/reference_tracking.md

@@ -44,9 +44,3 @@ y = lsim(T, r, t); % Output
 The error converges to a constant equal to \\(\frac{r\_v}{\omega\_c} \approx 0.016\\).
 
 The output "lags" behind the reference by \\(\frac{1}{\omega\_c}\\) in seconds.
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content/zettels/right_half_plane_zeros.md

@@ -22,9 +22,3 @@ Right Half Plane (RHP) Zeros are present in a broad range of systems.
     -   The frequency of the RHP zero should be outside the controller bandwidth.
         It therefore impose a fundamental limitation to the controller bandwidth.
         The reason is that inside the control bandwidth, the controller basically inverts the plant, and the inverse of a RHP zero is an unstable pole.
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content/zettels/rotation_stage.md

@@ -77,9 +77,3 @@ Rotation at few degrees per second.
 ```matlab
 length(axial_turns)/5 % Number of point per turn
 ```
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content/zettels/sensor_fusion.md

@@ -8,9 +8,3 @@ subcategory = "Sensor and Actuator Fusion"
 
 Tags
 : [Actuator Fusion]({{< relref "actuator_fusion.md" >}}), [Complementary Filters]({{< relref "complementary_filters.md" >}}), [Sensors]({{< relref "sensors.md" >}})
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content/zettels/sensors.md

@@ -14,9 +14,3 @@ Notes about sensors:
 -   [Force Sensors]({{< relref "force_sensors.md" >}})
 -   [Position Sensors]({{< relref "position_sensors.md" >}})
 -   [Inertial Sensors]({{< relref "inertial_sensors.md" >}})
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content/zettels/shaker.md

@@ -21,9 +21,3 @@ Tags
 | [YMC](http://www.chinaymc.com/product/showproduct.php?id=78&lang=en)                        | China     |
 | [Vibration Research](https://vibrationresearch.com/shakers/)                                | USA       |
 | [Sentek Dynamics](https://www.sentekdynamics.com/)                                          | USA       |
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content/zettels/signal_conditioner.md

@@ -30,9 +30,3 @@ Depending on the electrical quantity that is meaningful for the measurement, dif
 -   Current to Voltage ([Transimpedance Amplifiers]({{< relref "transimpedance_amplifiers.md" >}}))
 -   Charge to Voltage ([Charge Amplifiers]({{< relref "charge_amplifiers.md" >}}))
 -   Voltage to Voltage ([Voltage Amplifier]({{< relref "voltage_amplifier.md" >}}))
-
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content/zettels/simulink.md

@@ -42,9 +42,3 @@ Tips:
 ## Configure Simulink Programmatically {#configure-simulink-programmatically}
 
 <https://fr.mathworks.com/help/simulink/slref/common-block-parameters.html>
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content/zettels/simulink_real_time_target_machines.md

@@ -36,9 +36,3 @@ Comparison
 | Encoder (quadrature)  | 2                 | 4        | 4                          | 2                |
 | Sampling Frequency    | ?                 | ?        | 1kHz (USB), 15kHz (Serial) | 2kHz             |
 | Price                 | waiting for quote | 1000     | 900                        | 1300             |
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content/zettels/slip_rings.md

@@ -15,9 +15,3 @@ Tags
 | Manufacturers                     | Country |
 |-----------------------------------|---------|
 | [Moflon](https://www.moflon.com/) | China   |
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content/zettels/springs.md

@@ -20,9 +20,3 @@ Tags
 | [Paulstra](https://www.paulstra-industry.com/en/ranges/metal-mountings/v1210)                                                                                                                                            | France  |
 | [Norelem](https://www.norelem.com/us/en/Products/Product-overview/Systems-and-components-for-machine-and-plant-construction/26000-Compression-springs-Elastomer-springs-Rubber-buffers-Shock-absorbers-Gas-springs.html) | France  |
 | [VibraSystems](https://vibrasystems.com/elastomer-and-spring-hangers.html)                                                                                                                                               | USA     |
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content/zettels/stewart_platforms.md

@@ -64,111 +64,111 @@ Tags
 
 | University     | Figure                                      | Configuration     | Joints      | Actuators                | Sensors                                                    | Application                  | Link to bibliography                                                                                                                                                                                                                                                                                                         |
 |----------------|---------------------------------------------|-------------------|-------------|--------------------------|------------------------------------------------------------|------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| JPL            | [Figure 5](#figure--fig:stewart-jpl)        | Cubic             | Flexible    | Voice Coil (0.5 mm)      | Force (collocated)                                         |                              | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>)  Vibration Isolation (Space)                                                                                                                                                 |
+| JPL            | [Figure 5](#figure--fig:stewart-jpl)        | Cubic             | Flexible    | Voice Coil (0.5 mm)      | Force (collocated)                                         |                              | (<a href="#citeproc_bib_item_62">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_61">Rahman, Spanos, and Laskin 1998</a>)  Vibration Isolation (Space)                                                                                                                                                 |
-| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw)     | Cubic             | Elastomers  | Voice Coil (10 mm)       | Force, LVDT, Geophones                                     | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>)                                                                                                                                       |
+| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw)     | Cubic             | Elastomers  | Voice Coil (10 mm)       | Force, LVDT, Geophones                                     | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>)                                                                                                                                       |
-| Wyoming        | [Figure 17](#figure--fig:stewart-uw-gsp)    | Cubic (CoM=CoK)   | Flexible    | Voice Coil               | Force                                                      |                              | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_35">Jafari and McInroy 2003</a>) |
+| Wyoming        | [Figure 17](#figure--fig:stewart-uw-gsp)    | Cubic (CoM=CoK)   | Flexible    | Voice Coil               | Force                                                      |                              | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_35">Jafari and McInroy 2003</a>) |
-| Brussels       | [Figure 21](#figure--fig:stewart-ulb-vc)    | Cubic             | Flexible    | Voice Coil               | Force                                                      | Vibration Isolation          | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>),  (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>)                                                                                                                                                                                                            |
+| Brussels       | [Figure 21](#figure--fig:stewart-ulb-vc)    | Cubic             | Flexible    | Voice Coil               | Force                                                      | Vibration Isolation          | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>),  (<a href="#citeproc_bib_item_59">Preumont et al. 2007</a>)                                                                                                                                                                                                            |
-| SRDC           | [Figure 2](#figure--fig:stewart-naval)      | Not Cubic         | Ball joints | Voice Coil (10 mm)       |                                                            |                              | (<a href="#citeproc_bib_item_67">Taranti, Agrawal, and Cristi 2001</a>)                                                                                                                                                                                                                                                      |
+| SRDC           | [Figure 2](#figure--fig:stewart-naval)      | Not Cubic         | Ball joints | Voice Coil (10 mm)       |                                                            |                              | (<a href="#citeproc_bib_item_66">Taranti, Agrawal, and Cristi 2001</a>)                                                                                                                                                                                                                                                      |
 | SRDC           | [Figure 18](#figure--fig:stewart-pph)       | Non-Cubic         | Flexible    | Voice Coil               | Accelerometers, External metrology: Eddy Current + optical | Pointing                     | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>)                                                                                                                                                                                                                                                         |
-| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18)    | Cubic             | Flexible    | Voice Coil               | Accelerometer in each leg                                  |                              | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>)                                                                                                                                                  |
+| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18)    | Cubic             | Flexible    | Voice Coil               | Accelerometer in each leg                                  |                              | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_65">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>)                                                                                                                                                  |
-| Einhoven       | [Figure 9](#figure--fig:stewart-beijen)     | Almost cubic      | Flexible    | Voice Coil               | Force Sensor + Accelerometer                               | Vibration Isolation          | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>)                                                                                                                                                                                                                 |
+| Einhoven       | [Figure 9](#figure--fig:stewart-beijen)     | Almost cubic      | Flexible    | Voice Coil               | Force Sensor + Accelerometer                               | Vibration Isolation          | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>)                                                                                                                                                                                                                 |
 | JPL            | [Figure 4](#figure--fig:stewart-geng)       | Cubic (6-UPU)     | Flexible    | Magnetostrictive         | Force (collocated), Accelerometers                         | Vibration Isolation          | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>), (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>)                                                                                                                                               |
-| China          | [Figure 10](#figure--fig:stewart-zhang11)   | Non-cubic         | Flexible    | Magnetostrictive         | Inertial                                                   |                              | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>)                                                                                                                                                                                                                                                                      |
+| China          | [Figure 10](#figure--fig:stewart-zhang11)   | Non-cubic         | Flexible    | Magnetostrictive         | Inertial                                                   |                              | (<a href="#citeproc_bib_item_82">Zhang et al. 2011</a>)                                                                                                                                                                                                                                                                      |
 | Brussels       | [Figure 20](#figure--fig:stewart-ulb-pz)    | Cubic             | Flexible    | Piezoelectric, Amplified | Piezo Force                                                | Active Damping               | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>)                                                                                                                                                                                                                                                |
 | SRDC           | [Figure 19](#figure--fig:stewart-uqp)       | Cubic             |             | Piezoelectric (50 um)    | Geophone                                                   | Vibration                    | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>)                                                                                                                                                                                                                                                                   |
-| Taiwan         | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic             | Flexible    | Piezoelectric (120 um)   | External capacitive                                        |                              | (<a href="#citeproc_bib_item_72">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_71">Ting, Li, and Nguyen 2013</a>)                                                                                                                                                                                                |
+| Taiwan         | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic             | Flexible    | Piezoelectric (120 um)   | External capacitive                                        |                              | (<a href="#citeproc_bib_item_71">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_70">Ting, Li, and Nguyen 2013</a>)                                                                                                                                                                                                |
-| Taiwan         | [Figure 15](#figure--fig:stewart-ting07)    | Non-Cubic         | Flexible    | Piezoelectric (160 um)   | External capacitive (LION)                                 |                              | (<a href="#citeproc_bib_item_70">Ting, Jar, and Li 2007</a>)                                                                                                                                                                                                                                                                 |
+| Taiwan         | [Figure 15](#figure--fig:stewart-ting07)    | Non-Cubic         | Flexible    | Piezoelectric (160 um)   | External capacitive (LION)                                 |                              | (<a href="#citeproc_bib_item_69">Ting, Jar, and Li 2007</a>)                                                                                                                                                                                                                                                                 |
 | Harbin (China) | [Figure 12](#figure--fig:stewart-du14)      | 6-SPS (Optimized) | Flexible    | Piezoelectric            | Strain Gauge                                               |                              | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>)                                                                                                                                                                                                                                                                 |
 | Japan          | [Figure 6](#figure--fig:stewart-furutani)   | Non-Cubic         | Flexible    | Piezoelectric (16 um)    | Eddy Current Displacement Sensors                          | Cutting machine              | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>)                                                                                                                                                                                                                                                       |
-| China          | [Figure 11](#figure--fig:stewart-yang19)    | 6-UPS (Cubic?)    | Flexible    | Piezoelectric            | Force, Position                                            |                              | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>)                                                                                                                                                                                                                                                                       |
+| China          | [Figure 11](#figure--fig:stewart-yang19)    | 6-UPS (Cubic?)    | Flexible    | Piezoelectric            | Force, Position                                            |                              | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>)                                                                                                                                                                                                                                                                       |
-| Shangai        | [Figure 8](#figure--fig:stewart-wang16)     | Cubic             | Flexible    | Piezoelectric            | Force Sensor + Accelerometer                               |                              | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>)                                                                                                                                                                                                                                                                       |
+| Shangai        | [Figure 8](#figure--fig:stewart-wang16)     | Cubic             | Flexible    | Piezoelectric            | Force Sensor + Accelerometer                               |                              | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>)                                                                                                                                                                                                                                                                       |
 | Matra (France) | [Figure 3](#figure--fig:stewart-mais)       | Cubic             | Flexible    | Piezoelectric (25 um)    | Piezo force sensors                                        | Vibration control            | (<a href="#citeproc_bib_item_19">Defendini et al. 2000</a>)                                                                                                                                                                                                                                                                  |
-| Japan          | [Figure 7](#figure--fig:stewart-torii)      | Non-Cubic         | Flexible    | Inchworm                 |                                                            |                              | (<a href="#citeproc_bib_item_75">Torii et al. 2012</a>)                                                                                                                                                                                                                                                                      |
+| Japan          | [Figure 7](#figure--fig:stewart-torii)      | Non-Cubic         | Flexible    | Inchworm                 |                                                            |                              | (<a href="#citeproc_bib_item_74">Torii et al. 2012</a>)                                                                                                                                                                                                                                                                      |
-| Netherlands    | [Figure 1](#figure--fig:stewart-naves)      | Non-Cubic         | Flexible    | 3-phase rotary motor     | Rotary Encoders                                            |                              | (<a href="#citeproc_bib_item_54">Naves 2021</a>; <a href="#citeproc_bib_item_55">Naves et al. 2020</a>)                                                                                                                                                                                                                      |
+| Netherlands    | [Figure 1](#figure--fig:stewart-naves)      | Non-Cubic         | Flexible    | 3-phase rotary motor     | Rotary Encoders                                            |                              | (<a href="#citeproc_bib_item_53">Naves 2021</a>; <a href="#citeproc_bib_item_54">Naves et al. 2020</a>)                                                                                                                                                                                                                      |
 
 <a id="figure--fig:stewart-naves"></a>
 
-{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex (<a href='#citeproc_bib_item_55'>Naves et al. 2020</a>)" >}}
+{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex <&naves20_t_flex>" >}}
 
 <a id="figure--fig:stewart-naval"></a>
 
-{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span>(<a href='#citeproc_bib_item_67'>Taranti, Agrawal, and Cristi 2001</a>)" >}}
+{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span><&taranti01_effic_algor_vibrat_suppr>" >}}
 
 <a id="figure--fig:stewart-mais"></a>
 
-{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span>(<a href='#citeproc_bib_item_19'>Defendini et al. 2000</a>)" >}}
+{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span><&defendini00_techn>" >}}
 
 <a id="figure--fig:stewart-geng"></a>
 
-{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span>(<a href='#citeproc_bib_item_28'>Geng and Haynes 1994</a>)" >}}
+{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span><&geng94_six_degree_of_freed_activ>" >}}
 
 <a id="figure--fig:stewart-jpl"></a>
 
-{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span>(<a href='#citeproc_bib_item_63'>Spanos, Rahman, and Blackwood 1995</a>)" >}}
+{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span><&spanos95_soft_activ_vibrat_isolat>" >}}
 
 <a id="figure--fig:stewart-furutani"></a>
 
-{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span>(<a href='#citeproc_bib_item_25'>Furutani, Suzuki, and Kudoh 2004</a>)" >}}
+{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span><&furutani04_nanom_cuttin_machin_using_stewar>" >}}
 
 <a id="figure--fig:stewart-torii"></a>
 
-{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span>(<a href='#citeproc_bib_item_75'>Torii et al. 2012</a>)" >}}
+{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span><&torii12_small_size_self_propel_stewar_platf>" >}}
 
 <a id="figure--fig:stewart-wang16"></a>
 
-{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span>(<a href='#citeproc_bib_item_77'>Wang et al. 2016</a>)" >}}
+{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span><&wang16_inves_activ_vibrat_isolat_stewar>" >}}
 
 <a id="figure--fig:stewart-beijen"></a>
 
-{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span>(<a href='#citeproc_bib_item_7'>Beijen et al. 2018</a>)" >}}
+{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span><&beijen18_self_tunin_mimo_distur_feedf>" >}}
 
 <a id="figure--fig:stewart-zhang11"></a>
 
-{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span>(<a href='#citeproc_bib_item_83'>Zhang et al. 2011</a>)" >}}
+{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span><&zhang11_six_dof>" >}}
 
 <a id="figure--fig:stewart-yang19"></a>
 
-{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span>(<a href='#citeproc_bib_item_81'>Yang et al. 2019</a>)" >}}
+{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span><&yang19_dynam_model_decoup_contr_flexib>" >}}
 
 <a id="figure--fig:stewart-du14"></a>
 
-{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span>(<a href='#citeproc_bib_item_23'>Du, Shi, and Dong 2014</a>)" >}}
+{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span><&du14_piezo_actuat_high_precis_flexib>" >}}
 
 <a id="figure--fig:stewart-tang18"></a>
 
-{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span>(<a href='#citeproc_bib_item_66'>Tang, Cao, and Yu 2018</a>)" >}}
+{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span><&tang18_decen_vibrat_contr_voice_coil>" >}}
 
 <a id="figure--fig:stewart-nanoscale"></a>
 
-{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span>(<a href='#citeproc_bib_item_72'>Ting, Jar, and Li 2006</a>)" >}}
+{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span><&ting06_desig_stewar_nanos_platf>" >}}
 
 <a id="figure--fig:stewart-ting07"></a>
 
-{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span>(<a href='#citeproc_bib_item_70'>Ting, Jar, and Li 2007</a>)" >}}
+{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span><&ting07_measur_calib_stewar_microm_system>" >}}
 
 <a id="figure--fig:stewart-ht-uw"></a>
 
-{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class='figure-number'>Figure 16: </span>Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions (<a href='#citeproc_bib_item_69'>Thayer et al. 2002</a>)" >}}
+{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class='figure-number'>Figure 16: </span>Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions <&thayer02_six_axis_vibrat_isolat_system>" >}}
 
 <a id="figure--fig:stewart-uw-gsp"></a>
 
-{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry (<a href='#citeproc_bib_item_44'>Li 2001</a>)" >}}
+{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}}
 
 <a id="figure--fig:stewart-pph"></a>
 
-{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) (<a href='#citeproc_bib_item_15'>Chen, Bishop, and Agrawal 2003</a>)" >}}
+{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}}
 
 <a id="figure--fig:stewart-uqp"></a>
 
-{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) (<a href='#citeproc_bib_item_5'>Agrawal and Chen 2004</a>)" >}}
+{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}}
 
 <a id="figure--fig:stewart-ulb-pz"></a>
 
-{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric (<a href='#citeproc_bib_item_3'>Abu Hanieh, Horodinca, and Preumont 2002</a>)" >}}
+{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}}
 
 <a id="figure--fig:stewart-ulb-vc"></a>
 
-{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil (<a href='#citeproc_bib_item_2'>Abu Hanieh 2003</a>)" >}}
+{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil <&hanieh03_activ_stewar>" >}}
 
 
 ### Long Stroke {#long-stroke}
@@ -179,24 +179,24 @@ Tags
 |----------------|------------------------------------------|---------------|--------------|-------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
 | Japan          | [Figure 22](#figure--fig:stewart-cleary) | 6-UPS         | Conventional | DC, gear + rack pinion  | Encoder, 7um res         | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>)                                                                                                                                                      |
 | Seoul          | [Figure 23](#figure--fig:stewart-kim00)  | Non-Cubic     | Conventional | Hydraulic               | LVDT                     | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>)                                                                                                                                                   |
-| Xidian (China) | [Figure 24](#figure--fig:stewart-su04)   | Non-Cubic     | Conventional | Servo Motor + Screwball | Encoder                  | (<a href="#citeproc_bib_item_64">Su et al. 2004</a>)                                                                                                                                                            |
+| Xidian (China) | [Figure 24](#figure--fig:stewart-su04)   | Non-Cubic     | Conventional | Servo Motor + Screwball | Encoder                  | (<a href="#citeproc_bib_item_63">Su et al. 2004</a>)                                                                                                                                                            |
 | Czech          | [Figure 25](#figure--fig:stewart-czech)  | 6-UPS         | Conventional | DC,  Ball Screw         | Absolute Linear position | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>), (<a href="#citeproc_bib_item_12">Březina and Březina 2010</a>) |
 
 <a id="figure--fig:stewart-cleary"></a>
 
-{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span>(<a href='#citeproc_bib_item_17'>Cleary and Arai 1991</a>)" >}}
+{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span><&cleary91_protot_paral_manip>" >}}
 
 <a id="figure--fig:stewart-kim00"></a>
 
-{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span>(<a href='#citeproc_bib_item_41'>Kim 2001</a>)" >}}
+{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span><&kim01_six>" >}}
 
 <a id="figure--fig:stewart-su04"></a>
 
-{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span>(<a href='#citeproc_bib_item_64'>Su et al. 2004</a>)" >}}
+{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span><&su04_distur_rejec_high_precis_motion>" >}}
 
 <a id="figure--fig:stewart-czech"></a>
 
-{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) (<a href='#citeproc_bib_item_11'>Březina, Andrš, and Březina 2008</a>)" >}}
+{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}}
 
 
 ## Articles - Design Related {#articles-design-related}
@@ -220,7 +220,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 
 | Main Object        | Link to bibliography                               |
 |--------------------|----------------------------------------------------|
-| Effect of flexures | (<a href="#citeproc_bib_item_47">McInroy 2002</a>) |
+| Effect of flexures | (<a href="#citeproc_bib_item_46">McInroy 2002</a>) |
 
 
 ### Decoupling {#decoupling}
@@ -229,7 +229,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 
 | Main Object                        | Link to bibliography                                          |
 |------------------------------------|---------------------------------------------------------------|
-| Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
+| Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
 |                                    | (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>)          |
 
 
@@ -241,13 +241,13 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 |------------------------------------------|----------------------------------------------------------------------------------------------------------------------------|
 | [Figure 26](#figure--fig:stewart-dong07) | (<a href="#citeproc_bib_item_21">Dong, Sun, and Du 2008</a>), (<a href="#citeproc_bib_item_22">Dong, Sun, and Du 2007</a>) |
 |                                          | (<a href="#citeproc_bib_item_40">Kim and Cho 2009</a>)                                                                     |
-|                                          | (<a href="#citeproc_bib_item_82">Yun and Li 2010</a>)                                                                      |
+|                                          | (<a href="#citeproc_bib_item_81">Yun and Li 2010</a>)                                                                      |
 |                                          | (<a href="#citeproc_bib_item_26">Gao et al. 2002</a>)                                                                      |
 |                                          | (<a href="#citeproc_bib_item_32">Horin and Shoham 2006</a>)                                                                |
 
 <a id="figure--fig:stewart-dong07"></a>
 
-{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span>(<a href='#citeproc_bib_item_22'>Dong, Sun, and Du 2007</a>)" >}}
+{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span><&dong07_desig_precis_compl_paral_posit>" >}}
 
 
 ### Workspace {#workspace}
@@ -257,7 +257,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 | Main Object                                          | Link to bibliography                                           |
 |------------------------------------------------------|----------------------------------------------------------------|
 | Compute orientation                                  | (<a href="#citeproc_bib_item_10">Bonev and Ryu 2001</a>)       |
-| Reachable Workspace                                  | (<a href="#citeproc_bib_item_58">Pernkopf and Husty 2006</a>)  |
+| Reachable Workspace                                  | (<a href="#citeproc_bib_item_57">Pernkopf and Husty 2006</a>)  |
 | Determination of the max. singularity free workspace | (<a href="#citeproc_bib_item_36">Jiang and Gosselin 2009a</a>) |
 | Orientation Workspace                                | (<a href="#citeproc_bib_item_37">Jiang and Gosselin 2009b</a>) |
 
@@ -310,28 +310,28 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 | University | Actuators        | Sensors                            | Control                                                            | Main Object                                                                                                 | Link to bibliography                                                                                                                                                                      |
 |------------|------------------|------------------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
 | JPL        | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control             | Two layer control for active damping and vibration isolation                                                | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>)                                                                                                                                    |
-| JPL        | Voice Coil       | Force (collocated)                 | Decentralized IFF                                                  | Decentralized force feedback to reduce the transmissibility                                                 | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>)                                           |
+| JPL        | Voice Coil       | Force (collocated)                 | Decentralized IFF                                                  | Decentralized force feedback to reduce the transmissibility                                                 | (<a href="#citeproc_bib_item_62">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_61">Rahman, Spanos, and Laskin 1998</a>)                                           |
-| Washinton  | Voice Coil       | Force, LVDT, Geophones             | LQG, Force + geophones for vibration, LVDT for pointing            | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>)                                                                   |
+| Washinton  | Voice Coil       | Force, LVDT, Geophones             | LQG, Force + geophones for vibration, LVDT for pointing            | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>)                                                                   |
-| Wyoming    | Voice Coil       | Force                              | Centralized (cartesian) IFF                                        | Difficult to decouple in practice                                                                           | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>)                                                                                                                                 |
+| Wyoming    | Voice Coil       | Force                              | Centralized (cartesian) IFF                                        | Difficult to decouple in practice                                                                           | (<a href="#citeproc_bib_item_55">O’Brien et al. 1998</a>)                                                                                                                                 |
-| Wyoming    | Voice Coil       | Force                              | IFF, centralized (decouple) + decentralized (coupled)              | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
+| Wyoming    | Voice Coil       | Force                              | IFF, centralized (decouple) + decentralized (coupled)              | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
 | Brussels   | APA              | Piezo force sensor                 | Decentralized IFF                                                  |                                                                                                             | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>)                                                                                                             |
-| Brussels   | Voice Coil       | Force Sensor                       | Decentralized IFF                                                  | Effect of flexible joints                                                                                   | (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>)                                                                                                                                |
+| Brussels   | Voice Coil       | Force Sensor                       | Decentralized IFF                                                  | Effect of flexible joints                                                                                   | (<a href="#citeproc_bib_item_59">Preumont et al. 2007</a>)                                                                                                                                |
-| Shangai    | Piezoelectric    | Force Sensor + Accelerometer       | Vibration isolation, HAC-LAC (IFF + FxLMS)                         | Dynamic Model + Vibration Control                                                                           | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>)                                                                                                                                    |
+| Shangai    | Piezoelectric    | Force Sensor + Accelerometer       | Vibration isolation, HAC-LAC (IFF + FxLMS)                         | Dynamic Model + Vibration Control                                                                           | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>)                                                                                                                                    |
-| China      |                  |                                    | Decentralized IFF                                                  | Design cubic configuration to have same modal frequencies: optimal damping of all modes                     | (<a href="#citeproc_bib_item_80">Yang et al. 2017</a>)                                                                                                                                    |
+| China      |                  |                                    | Decentralized IFF                                                  | Design cubic configuration to have same modal frequencies: optimal damping of all modes                     | (<a href="#citeproc_bib_item_79">Yang et al. 2017</a>)                                                                                                                                    |
 | Washinton  | Voice Coil       | Force                              | Decentralized IFF                                                  | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero                            | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>)                                                                                                                             |
-| China      | Piezoelectric    | Force, Position                    | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>)                                                                                                                                    |
+| China      | Piezoelectric    | Force, Position                    | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>)                                                                                                                                    |
 
 
 #### Sky-Hood Damping {#sky-hood-damping}
 
 | University     | Actuators  | Sensors                                           | Control                                                                               | Main Object                                                                                | Link to bibliography                                               |
 |----------------|------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------|--------------------------------------------------------------------|
-| Wyoming        | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors    | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control                                              | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
+| Wyoming        | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors    | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control                                              | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
-| China          | Voice Coil | Geophone + Eddy Current (Struts, collocated)      | Decentralized (Sky Hook) + Centralized (modal) Control                                |                                                                                            | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>)               |
+| China          | Voice Coil | Geophone + Eddy Current (Struts, collocated)      | Decentralized (Sky Hook) + Centralized (modal) Control                                |                                                                                            | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>)               |
 | China          | Voice Coil | Accelerometer in each leg                         | Centralized Vibration Control, PI, Skyhook                                            |                                                                                            | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>)            |
 | Einhoven       | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping)         |                                                                                            | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>)            |
-| Harbin (China) | Voice Coil | Accelerometer in each leg                         | Decentralized vibration control                                                       | Vibration Control with VCM and Decentralized control                                       | (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>)       |
+| Harbin (China) | Voice Coil | Accelerometer in each leg                         | Decentralized vibration control                                                       | Vibration Control with VCM and Decentralized control                                       | (<a href="#citeproc_bib_item_65">Tang, Cao, and Yu 2018</a>)       |
-| Washinton      | Voice Coil | Geophones                                         | Decentralized Inertial Feedback                                                       | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>)           |
+| Washinton      | Voice Coil | Geophones                                         | Decentralized Inertial Feedback                                                       | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>)           |
 | Washinton      | Voice Coil | Geophones                                         | Decentralized Sky Hood Damping                                                        | Comparison of force sensor and inertial sensors                                            | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>)      |
 | Harbin (China) | Voice Coil | Accelerometers                                    | MIMO H-Infinity, active damping                                                       | Model + active damping with flexible hinges                                                | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>)             |
 
@@ -342,10 +342,10 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
 |------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------|
 | JPL        | Magnetostrictive | Force, Accelerometers        | Robust Adaptive Filter                                                        | Hardware implementation                       | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>) |
 | SRDC       |                  |                              | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>)                                                   |
-| Wyoming    | Voice Coil       |                              | Adaptive sinusoidal disturbance (Phase Lock Loop)                             |                                               | (<a href="#citeproc_bib_item_43">Lin and McInroy 2003</a>)                                                             |
+| Wyoming    | Voice Coil       |                              | Adaptive sinusoidal disturbance (Phase Lock Loop)                             |                                               | (<a href="#citeproc_bib_item_42">Lin and McInroy 2003</a>)                                                             |
 | SRDC       | Piezo            | Geophone (collocated)        | "multiple error LMS" (require measured disturbance) vs "clear box"            |                                               | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>)                                                             |
-| China      | Magnetostrictive | Inertial                     | Sinusoidal vibration, adaptive filters (LMS)                                  | Design and Control of flexure joint Hexapods  | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>)                                                                |
+| China      | Magnetostrictive | Inertial                     | Sinusoidal vibration, adaptive filters (LMS)                                  | Design and Control of flexure joint Hexapods  | (<a href="#citeproc_bib_item_82">Zhang et al. 2011</a>)                                                                |
-| Shangai    | Piezoelectric    | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS)                                    | Dynamic Model + Vibration Control             | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>)                                                                 |
+| Shangai    | Piezoelectric    | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS)                                    | Dynamic Model + Vibration Control             | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>)                                                                 |
 
 
 ### Position Control {#position-control}
@@ -363,17 +363,17 @@ Control Strategy:
 
 | University     | Actuators     | Sensors                                        | Control                                                                               | Modelling             | Main Object                                                                                                 | Link to bibliography                                                                                                                                                                      |
 |----------------|---------------|------------------------------------------------|---------------------------------------------------------------------------------------|-----------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| Washinton      | Voice Coil    | Force, LVDT, Geophones                         | LQG, Force + geophones for vibration, LVDT for pointing                               | FEM =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>)                                                                   |
+| Washinton      | Voice Coil    | Force, LVDT, Geophones                         | LQG, Force + geophones for vibration, LVDT for pointing                               | FEM =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>)                                                                   |
-| Wyoming        | Voice Coil    | Force, LVDT                                    | IFF, centralized (decouple) + decentralized (coupled)                                 | Lumped                | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
+| Wyoming        | Voice Coil    | Force, LVDT                                    | IFF, centralized (decouple) + decentralized (coupled)                                 | Lumped                | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
 | Seoul          | Hydraulic     | LVDT                                           | Decentralized (strut) vs Centralized (cartesian)                                      |                       |                                                                                                             | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>)                                                                                                                             |
-| Wyoming        | Voice Coil    | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations  | Decoupling, both vibration + pointing control                                                               | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>)                                                                                                                        |
+| Wyoming        | Voice Coil    | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations  | Decoupling, both vibration + pointing control                                                               | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>)                                                                                                                        |
 | Japan          | APA           | Eddy current displacement                      | Decentralized (struts) PI + LPF control                                               |                       |                                                                                                             | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>)                                                                                                                    |
-| China          | Voice Coil    | Geophone + Eddy Current (Struts, collocated)   | Decentralized (Sky Hook) + Centralized (modal) Control                                |                       |                                                                                                             | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>)                                                                                                                                      |
+| China          | Voice Coil    | Geophone + Eddy Current (Struts, collocated)   | Decentralized (Sky Hook) + Centralized (modal) Control                                |                       |                                                                                                             | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>)                                                                                                                                      |
 | Harbin (China) | PZT Piezo     | Strain Gauge                                   | Decentralized position feedback                                                       |                       | Workspace, Stiffness analyzed                                                                               | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>)                                                                                                                              |
-| China          | Piezoelectric | Leg length                                     | Tracking control, ADRC, State observer                                                | Analytical            | Use of ADRC for tracking control of cubic hexapod                                                           | (<a href="#citeproc_bib_item_52">Min, Huang, and Su 2019</a>)                                                                                                                             |
+| China          | Piezoelectric | Leg length                                     | Tracking control, ADRC, State observer                                                | Analytical            | Use of ADRC for tracking control of cubic hexapod                                                           | (<a href="#citeproc_bib_item_51">Min, Huang, and Su 2019</a>)                                                                                                                             |
-| China          | Piezoelectric | Force, Position                                | Vibration isolation, Model-Based, Modal control: 6x PI controllers                    | Solid/Flexible        | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>)                                                                                                                                    |
+| China          | Piezoelectric | Force, Position                                | Vibration isolation, Model-Based, Modal control: 6x PI controllers                    | Solid/Flexible        | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>)                                                                                                                                    |
 
-From: (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>):
+From: (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>):
 
 > On the other hand, the traditional modal decoupled control strategy cannot deal with the flexible Stewart platform governed by Eq. (34) because it is impossible to achieve simultaneous diagonalization of the mass, damping and stiffness matrices.
 > To make the six-DOF system decoupled into six single-DOF isolators, we design a new controller based on the leg’s force and position feedback.
@@ -398,7 +398,7 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
 | University  | Actuators  | Sensors            | Control                           | Main Object                                                                                                      | Link to bibliography                                          |
 |-------------|------------|--------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------|
 | Washinton   | Voice Coil | Force and Inertial | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
-| Netherlands | Voice Coil |                    | Sensor Fusion, Two Sensor Control |                                                                                                                  | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>)           |
+| Netherlands | Voice Coil |                    | Sensor Fusion, Two Sensor Control |                                                                                                                  | (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>)           |
 
 
 #### HAC-LAC {#hac-lac}
@@ -406,17 +406,17 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
 | University | Actuators        | Sensors                                           | Control                                                                               | Main Object                                                  | Link to bibliography                                               |
 |------------|------------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------|--------------------------------------------------------------------|
 | JPL        | Magnetostrictive | Force (collocated), Accelerometers                | Two layers: Decentralized IFF, Robust Adaptive Control                                | Two layer control for active damping and vibration isolation | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>)             |
-| Shangai    | Piezoelectric    | Force Sensor + Accelerometer                      | Vibration isolation, HAC-LAC (IFF + FxLMS)                                            | Dynamic Model + Vibration Control                            | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>)             |
+| Shangai    | Piezoelectric    | Force Sensor + Accelerometer                      | Vibration isolation, HAC-LAC (IFF + FxLMS)                                            | Dynamic Model + Vibration Control                            | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>)             |
-| Wyoming    | Voice Coil       | Accelerometer (collocated), ext. Rx/Ry sensors    | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control                | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
+| Wyoming    | Voice Coil       | Accelerometer (collocated), ext. Rx/Ry sensors    | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control                | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
-| China      | Voice Coil       | Geophone + Eddy Current (Struts, collocated)      | Decentralized (Sky Hook) + Centralized (modal) Control                                |                                                              | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>)               |
+| China      | Voice Coil       | Geophone + Eddy Current (Struts, collocated)      | Decentralized (Sky Hook) + Centralized (modal) Control                                |                                                              | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>)               |
-| China      | Voice Coil       | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers         |                                                              | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</a>)    |
+| China      | Voice Coil       | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers         |                                                              | (<a href="#citeproc_bib_item_77">Xie, Wang, and Zhang 2017</a>)    |
 
 
 #### Sensor Fusion {#sensor-fusion}
 
 | University  | Actuators  | Sensors                      | Control                           | Main Object                                                                                                      | Link to bibliography                                                                                                            |
 |-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------|
-| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control |                                                                                                                  | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_74">Tjepkema, van Dijk, and Soemers 2012</a>) |
+| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control |                                                                                                                  | (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_73">Tjepkema, van Dijk, and Soemers 2012</a>) |
 | Washinton   | Voice Coil | Force (HF) and Inertial (LF) | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>)                                                                   |
 
 
@@ -424,9 +424,9 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
 
 | University | Actuators     | Sensors                | Control                                                            | Main Object                                                                                                 | Link to bibliography                                                                                                                                                                      |
 |------------|---------------|------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| China      | Piezoelectric | Force, Position        | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>)                                                                                                                                    |
+| China      | Piezoelectric | Force, Position        | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>)                                                                                                                                    |
-| Washinton  | Voice Coil    | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing            | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>)                                                                   |
+| Washinton  | Voice Coil    | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing            | Centralized control is no better than decentralized. Geophone + Force MISO control is good                  | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>)                                                                   |
-| Wyoming    | Voice Coil    | Force                  | IFF, centralized (decouple) + decentralized (coupled)              | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
+| Wyoming    | Voice Coil    | Force                  | IFF, centralized (decouple) + decentralized (coupled)              | Specific geometry: decoupled force plant. Better perf with centralized IFF                                  | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
 
 
 ### Decoupling Strategies {#decoupling-strategies}
@@ -451,30 +451,30 @@ Identify Jacobian for better decoupling: (<a href="#citeproc_bib_item_14">Cheng,
 
 #### Jacobian - Cartesian {#jacobian-cartesian}
 
-| Wyoming | Voice Coil | Force                                          | Cartesian frame decoupling                                                            | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>)                                                                                                                                 |
+| Wyoming | Voice Coil | Force                                          | Cartesian frame decoupling                                                            | (<a href="#citeproc_bib_item_55">O’Brien et al. 1998</a>)                                                                                                                                 |
 |---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| Wyoming | Voice Coil | Force                                          | IFF, Cartesian Frame, Jacobians                                                       | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
+| Wyoming | Voice Coil | Force                                          | IFF, Cartesian Frame, Jacobians                                                       | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>),  (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
 | Seoul   | Hydraulic  | LVDT                                           | Decentralized (strut) vs Centralized (cartesian)                                      | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>)                                                                                                                             |
-| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>)                                                                                                                        |
+| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>)                                                                                                                        |
 | China   | Voice Coil | Accelerometer in each leg                      | Centralized Vibration Control, PI, Skyhook                                            | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>)                                                                                                                                   |
 
 
 #### Modal Decoupling {#modal-decoupling}
 
-| China | Voice Coil    | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control             | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>)   |
+| China | Voice Coil    | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control             | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>)   |
 |-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------|
-| China | Piezoelectric | Force, Position                              | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
+| China | Piezoelectric | Force, Position                              | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
 
 
 #### Multivariable Control {#multivariable-control}
 
-From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
+From (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>):
 
 > Experimental closed-loopcontrol results using the hexapod have shown that controllers designed using a decentralized single-strut design work well when compared to full multivariable methodologies.
 
-| China          | PZT        | Geophone (struts)                                 | H-Infinity and mu-synthesis                                                   | (<a href="#citeproc_bib_item_42">Lei and Benli 2008</a>)        |
+| China          | PZT        | Geophone (struts)                                 | H-Infinity and mu-synthesis                                                   | (<a href="#citeproc_bib_item_41">Lei and Benli 2008</a>)        |
 |----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------|
-| China          | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</a>) |
+| China          | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_77">Xie, Wang, and Zhang 2017</a>) |
 | Harbin (China) | Voice Coil | Accelerometers                                    | MIMO H-Infinity, active damping                                               | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>)          |
 
 
@@ -485,11 +485,11 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
 | Link to bibliography                                                                                                                            | University     | Actuators              | Sensors          | Control                                          | Main Object                                |
 |-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------|
 | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>)                                                                                      | Japan          | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control              | Singular configuration analysis, workspace |
-| (<a href="#citeproc_bib_item_64">Su et al. 2004</a>)                                                                                            | Xidian (China) |                        |                  |                                                  |                                            |
+| (<a href="#citeproc_bib_item_63">Su et al. 2004</a>)                                                                                            | Xidian (China) |                        |                  |                                                  |                                            |
 | (<a href="#citeproc_bib_item_34">Huang and Fu 2005</a>)                                                                                         | Taiwan         |                        |                  |                                                  |                                            |
 | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>) | Czech          | DC                     |                  |                                                  | Modeling with sim-mechanics                |
-| (<a href="#citeproc_bib_item_53">Molina, Rosario, and Sanchez 2008</a>)                                                                         | Brazil         |                        |                  |                                                  | Simulation with Matlab/Simulink            |
+| (<a href="#citeproc_bib_item_52">Molina, Rosario, and Sanchez 2008</a>)                                                                         | Brazil         |                        |                  |                                                  | Simulation with Matlab/Simulink            |
-| (<a href="#citeproc_bib_item_79">Yang et al. 2010</a>)                                                                                          | China          |                        |                  | Decentralized PID                                | Simulation with Simulink/SimMechanics      |
+| (<a href="#citeproc_bib_item_78">Yang et al. 2010</a>)                                                                                          | China          |                        |                  | Decentralized PID                                | Simulation with Simulink/SimMechanics      |
 | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>)                                                                                   | Seoul          | Hydraulic              | LVDT             | Decentralized (strut) vs Centralized (cartesian) |                                            |
 
 
@@ -498,28 +498,28 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
 
 ### Books {#books}
 
--   (<a href="#citeproc_bib_item_50">Merlet 2006</a>)
+-   (<a href="#citeproc_bib_item_49">Merlet 2006</a>)
--   (<a href="#citeproc_bib_item_65">Taghirad 2013</a>)
+-   (<a href="#citeproc_bib_item_64">Taghirad 2013</a>)
--   (<a href="#citeproc_bib_item_59">Preumont 2018</a>)
+-   (<a href="#citeproc_bib_item_58">Preumont 2018</a>)
 -   (<a href="#citeproc_bib_item_6">Arakelian 2018</a>)
 
 
 ### PhD Thesis {#phd-thesis}
 
--   (<a href="#citeproc_bib_item_44">Li 2001</a>)
+-   (<a href="#citeproc_bib_item_43">Li 2001</a>)
 -   (<a href="#citeproc_bib_item_9">Bishop Jr 2002</a>)
 -   (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>)
--   (<a href="#citeproc_bib_item_76">Vivas 2004</a>)
+-   (<a href="#citeproc_bib_item_75">Vivas 2004</a>)
 -   (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>)
 -   (<a href="#citeproc_bib_item_20">Deng 2017</a>)
--   (<a href="#citeproc_bib_item_55">Naves et al. 2020</a>)
+-   (<a href="#citeproc_bib_item_54">Naves et al. 2020</a>)
 
 
 ### Articles - Reviews {#articles-reviews}
 
 -   (<a href="#citeproc_bib_item_18">Dasgupta and Mruthyunjaya 2000</a>)
--   (<a href="#citeproc_bib_item_51">Merlet 2002</a>)
+-   (<a href="#citeproc_bib_item_50">Merlet 2002</a>)
--   (<a href="#citeproc_bib_item_57">Patel and George 2012</a>)
+-   (<a href="#citeproc_bib_item_56">Patel and George 2012</a>)
 -   (<a href="#citeproc_bib_item_13">Buzurovic 2012</a>)
 -   (<a href="#citeproc_bib_item_24">Furqan, Suhaib, and Ahmad 2017</a>)
 
@@ -567,47 +567,46 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
   <div class="csl-entry"><a id="citeproc_bib_item_38"></a>Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” <i>Journal of Vibration and Control</i> 25 (1): 151–71. doi:<a href="https://doi.org/10.1177/1077546318772474">10.1177/1077546318772474</a>.</div>
   <div class="csl-entry"><a id="citeproc_bib_item_39"></a>Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” <i>Journal of Robotic Systems</i> 17 (10): 527–47. doi:<a href="https://doi.org/10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A">10.1002/1097-4563(200010)17:10$&#60;$527:AID-ROB2&#62;3.0.CO;2-A</a>.</div>
   <div class="csl-entry"><a id="citeproc_bib_item_40"></a>Kim, Hwa Soo, and Young Man Cho. 2009. “Design and Modeling of a Novel 3-Dof Precision Micro-Stage.” <i>Mechatronics</i> 19 (5): 598–608. doi:<a href="https://doi.org/10.1016/j.mechatronics.2009.01.004">10.1016/j.mechatronics.2009.01.004</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_41"></a>Kim, Won-jong. 2001. “Six-Axis Nano-Positioning with Planar Magnetic Levitation.” In <i>Proceedings of the 2001 1st IEEE Conference on Nanotechnology. IEEE-NANO 2001 (Cat. No.01EX516)</i>. doi:<a href="https://doi.org/10.1109/nano.2001.966414">10.1109/nano.2001.966414</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_41"></a>Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” <i>Chinese Journal of Aeronautics</i> 21 (2): 125–33. doi:<a href="https://doi.org/10.1016/s1000-9361(08)60016-3">10.1016/s1000-9361(08)60016-3</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_42"></a>Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” <i>Chinese Journal of Aeronautics</i> 21 (2): 125–33. doi:<a href="https://doi.org/10.1016/s1000-9361(08)60016-3">10.1016/s1000-9361(08)60016-3</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_42"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 11 (2): 267–72. doi:<a href="https://doi.org/10.1109/tcst.2003.809248">10.1109/tcst.2003.809248</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_43"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 11 (2): 267–72. doi:<a href="https://doi.org/10.1109/tcst.2003.809248">10.1109/tcst.2003.809248</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_43"></a>Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_44"></a>Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_44"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In <i>Smart Structures and Materials 2001: Smart Structures and Integrated Systems</i>. doi:<a href="https://doi.org/10.1117/12.436521">10.1117/12.436521</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_45"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In <i>Smart Structures and Materials 2001: Smart Structures and Integrated Systems</i>. doi:<a href="https://doi.org/10.1117/12.436521">10.1117/12.436521</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_45"></a>McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In <i>Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)</i>. doi:<a href="https://doi.org/10.1109/cca.1999.806694">10.1109/cca.1999.806694</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_46"></a>McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In <i>Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)</i>. doi:<a href="https://doi.org/10.1109/cca.1999.806694">10.1109/cca.1999.806694</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_46"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” <i>IEEE/ASME Transactions on Mechatronics</i> 7 (1): 95–99. doi:<a href="https://doi.org/10.1109/3516.990892">10.1109/3516.990892</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_47"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” <i>IEEE/ASME Transactions on Mechatronics</i> 7 (1): 95–99. doi:<a href="https://doi.org/10.1109/3516.990892">10.1109/3516.990892</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_47"></a>McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” <i>IEEE Transactions on Robotics and Automation</i> 16 (4): 372–81. doi:<a href="https://doi.org/10.1109/70.864229">10.1109/70.864229</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_48"></a>McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” <i>IEEE Transactions on Robotics and Automation</i> 16 (4): 372–81. doi:<a href="https://doi.org/10.1109/70.864229">10.1109/70.864229</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_48"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” <i>IEEE/ASME Transactions on Mechatronics</i> 4 (1): 91–95. doi:<a href="https://doi.org/10.1109/3516.752089">10.1109/3516.752089</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_49"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” <i>IEEE/ASME Transactions on Mechatronics</i> 4 (1): 91–95. doi:<a href="https://doi.org/10.1109/3516.752089">10.1109/3516.752089</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_49"></a>Merlet, J. P. 2006. <i>Parallel Robots</i>. 2nd ed. Springer Publishing Company, Incorporated.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_50"></a>Merlet, J. P. 2006. <i>Parallel Robots</i>. 2nd ed. Springer Publishing Company, Incorporated.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_50"></a>Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In <i>Proc. ASME 2002 DETC Conf., Montreal</i>. <a href="https://api.semanticscholar.org/CorpusID:53859752">https://api.semanticscholar.org/CorpusID:53859752</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_51"></a>Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In <i>Proc. ASME 2002 DETC Conf., Montreal</i>. <a href="https://api.semanticscholar.org/CorpusID:53859752">https://api.semanticscholar.org/CorpusID:53859752</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_51"></a>Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In <i>2019 Chinese Control Conference (CCC)</i>. doi:<a href="https://doi.org/10.23919/chicc.2019.8866606">10.23919/chicc.2019.8866606</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_52"></a>Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In <i>2019 Chinese Control Conference (CCC)</i>. doi:<a href="https://doi.org/10.23919/chicc.2019.8866606">10.23919/chicc.2019.8866606</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_52"></a>Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In <i>7th Brazilian Conference on Dynamics, Control &#38; Applications</i>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_53"></a>Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In <i>7th Brazilian Conference on Dynamics, Control &#38; Applications</i>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_53"></a>Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:<a href="https://doi.org/10.3990/1.9789036549943">10.3990/1.9789036549943</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_54"></a>Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:<a href="https://doi.org/10.3990/1.9789036549943">10.3990/1.9789036549943</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_54"></a>Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In <i>20th EUSPEN International Conference &#38; Exhibition, EUSPEN 2020</i>, 205–8. EUSPEN.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_55"></a>Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In <i>20th EUSPEN International Conference &#38; Exhibition, EUSPEN 2020</i>, 205–8. EUSPEN.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_55"></a>O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703532">10.1109/acc.1998.703532</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_56"></a>O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703532">10.1109/acc.1998.703532</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_56"></a>Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” <i>Modern Mechanical Engineering</i> 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:<a href="https://doi.org/10.4236/mme.2012.23008">10.4236/mme.2012.23008</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_57"></a>Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” <i>Modern Mechanical Engineering</i> 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:<a href="https://doi.org/10.4236/mme.2012.23008">10.4236/mme.2012.23008</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_57"></a>Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 220 (7): 1019–32. doi:<a href="https://doi.org/10.1243/09544062jmes194">10.1243/09544062jmes194</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_58"></a>Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 220 (7): 1019–32. doi:<a href="https://doi.org/10.1243/09544062jmes194">10.1243/09544062jmes194</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_58"></a>Preumont, A. 2018. <i>Vibration Control of Active Structures - Fourth Edition</i>. Solid Mechanics and Its Applications. Springer International Publishing. doi:<a href="https://doi.org/10.1007/978-3-319-72296-2">10.1007/978-3-319-72296-2</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_59"></a>Preumont, A. 2018. <i>Vibration Control of Active Structures - Fourth Edition</i>. Solid Mechanics and Its Applications. Springer International Publishing. doi:<a href="https://doi.org/10.1007/978-3-319-72296-2">10.1007/978-3-319-72296-2</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_59"></a>Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” <i>Journal of Sound and Vibration</i> 300 (3-5): 644–61. doi:<a href="https://doi.org/10.1016/j.jsv.2006.07.050">10.1016/j.jsv.2006.07.050</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_60"></a>Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” <i>Journal of Sound and Vibration</i> 300 (3-5): 644–61. doi:<a href="https://doi.org/10.1016/j.jsv.2006.07.050">10.1016/j.jsv.2006.07.050</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_60"></a>Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” <i>Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture</i> 226 (2): 313–25. doi:<a href="https://doi.org/10.1177/0954405411414336">10.1177/0954405411414336</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_61"></a>Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” <i>Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture</i> 226 (2): 313–25. doi:<a href="https://doi.org/10.1177/0954405411414336">10.1177/0954405411414336</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_61"></a>Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In <i>Telescope Control Systems III</i>. doi:<a href="https://doi.org/10.1117/12.308821">10.1117/12.308821</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_62"></a>Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In <i>Telescope Control Systems III</i>. doi:<a href="https://doi.org/10.1117/12.308821">10.1117/12.308821</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_62"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In <i>Proceedings of 1995 American Control Conference - ACC’95</i>. doi:<a href="https://doi.org/10.1109/acc.1995.529280">10.1109/acc.1995.529280</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_63"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In <i>Proceedings of 1995 American Control Conference - ACC’95</i>. doi:<a href="https://doi.org/10.1109/acc.1995.529280">10.1109/acc.1995.529280</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_63"></a>Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” <i>IEEE Transactions on Control Systems Technology</i> 12 (3): 364–74. doi:<a href="https://doi.org/10.1109/tcst.2004.824315">10.1109/tcst.2004.824315</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_64"></a>Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” <i>IEEE Transactions on Control Systems Technology</i> 12 (3): 364–74. doi:<a href="https://doi.org/10.1109/tcst.2004.824315">10.1109/tcst.2004.824315</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_64"></a>Taghirad, H. 2013. <i>Parallel Robots : Mechanics and Control</i>. Boca Raton, FL: CRC Press.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_65"></a>Taghirad, H. 2013. <i>Parallel Robots : Mechanics and Control</i>. Boca Raton, FL: CRC Press.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_65"></a>Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 233 (1): 132–45. doi:<a href="https://doi.org/10.1177/0954406218756941">10.1177/0954406218756941</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_66"></a>Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 233 (1): 132–45. doi:<a href="https://doi.org/10.1177/0954406218756941">10.1177/0954406218756941</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_66"></a>Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In <i>AIAA Guidance, Navigation, and Control Conference and Exhibit</i>, 4094.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_67"></a>Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In <i>AIAA Guidance, Navigation, and Control Conference and Exhibit</i>, 4094.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_67"></a>Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703595">10.1109/acc.1998.703595</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_68"></a>Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703595">10.1109/acc.1998.703595</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_68"></a>Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” <i>Journal of Spacecraft and Rockets</i> 39 (2): 206–12. doi:<a href="https://doi.org/10.2514/2.3821">10.2514/2.3821</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_69"></a>Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” <i>Journal of Spacecraft and Rockets</i> 39 (2): 206–12. doi:<a href="https://doi.org/10.2514/2.3821">10.2514/2.3821</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_69"></a>Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” <i>Precision Engineering</i> 31 (3): 226–33. doi:<a href="https://doi.org/10.1016/j.precisioneng.2006.09.004">10.1016/j.precisioneng.2006.09.004</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_70"></a>Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” <i>Precision Engineering</i> 31 (3): 226–33. doi:<a href="https://doi.org/10.1016/j.precisioneng.2006.09.004">10.1016/j.precisioneng.2006.09.004</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_70"></a>Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” <i>Precision Engineering</i> 37 (3): 671–83. doi:<a href="https://doi.org/10.1016/j.precisioneng.2013.01.012">10.1016/j.precisioneng.2013.01.012</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_71"></a>Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” <i>Precision Engineering</i> 37 (3): 671–83. doi:<a href="https://doi.org/10.1016/j.precisioneng.2013.01.012">10.1016/j.precisioneng.2013.01.012</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_71"></a>Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In <i>2006 Sixth IEEE Conference on Nanotechnology</i>. doi:<a href="https://doi.org/10.1109/nano.2006.247808">10.1109/nano.2006.247808</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_72"></a>Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In <i>2006 Sixth IEEE Conference on Nanotechnology</i>. doi:<a href="https://doi.org/10.1109/nano.2006.247808">10.1109/nano.2006.247808</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_72"></a>Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_73"></a>Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_73"></a>Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” <i>Journal of Sound and Vibration</i> 331 (4): 735–49. doi:<a href="https://doi.org/10.1016/j.jsv.2011.09.022">10.1016/j.jsv.2011.09.022</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_74"></a>Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” <i>Journal of Sound and Vibration</i> 331 (4): 735–49. doi:<a href="https://doi.org/10.1016/j.jsv.2011.09.022">10.1016/j.jsv.2011.09.022</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_74"></a>Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” <i>Electrical Engineering in Japan</i> 181 (2): 37–46. doi:<a href="https://doi.org/10.1002/eej.21261">10.1002/eej.21261</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_75"></a>Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” <i>Electrical Engineering in Japan</i> 181 (2): 37–46. doi:<a href="https://doi.org/10.1002/eej.21261">10.1002/eej.21261</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_75"></a>Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_76"></a>Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_76"></a>Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” <i>Journal of Sound and Vibration</i> 383. Elsevier BV: 1–19. doi:<a href="https://doi.org/10.1016/j.jsv.2016.07.021">10.1016/j.jsv.2016.07.021</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_77"></a>Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” <i>Journal of Sound and Vibration</i> 383. Elsevier BV: 1–19. doi:<a href="https://doi.org/10.1016/j.jsv.2016.07.021">10.1016/j.jsv.2016.07.021</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_77"></a>Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In <i>INTER-NOISE and NOISE-CON Congress and Conference Proceedings</i>, 255:1844–53. 6. Institute of Noise Control Engineering.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_78"></a>Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In <i>INTER-NOISE and NOISE-CON Congress and Conference Proceedings</i>, 255:1844–53. 6. Institute of Noise Control Engineering.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_78"></a>Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In <i>2010 3rd International Conference on Computer Science and Information Technology</i>. doi:<a href="https://doi.org/10.1109/iccsit.2010.5563824">10.1109/iccsit.2010.5563824</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_79"></a>Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In <i>2010 3rd International Conference on Computer Science and Information Technology</i>. doi:<a href="https://doi.org/10.1109/iccsit.2010.5563824">10.1109/iccsit.2010.5563824</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_79"></a>Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” <i>Mechanism and Machine Theory</i> 117: 244–52. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2017.07.017">10.1016/j.mechmachtheory.2017.07.017</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_80"></a>Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” <i>Mechanism and Machine Theory</i> 117: 244–52. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2017.07.017">10.1016/j.mechmachtheory.2017.07.017</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_80"></a>Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” <i>Journal of Sound and Vibration</i> 439. Elsevier BV: 398–412. doi:<a href="https://doi.org/10.1016/j.jsv.2018.10.007">10.1016/j.jsv.2018.10.007</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_81"></a>Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” <i>Journal of Sound and Vibration</i> 439. Elsevier BV: 398–412. doi:<a href="https://doi.org/10.1016/j.jsv.2018.10.007">10.1016/j.jsv.2018.10.007</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_81"></a>Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” <i>Nonlinear Dynamics</i> 61 (4): 829–45. doi:<a href="https://doi.org/10.1007/s11071-010-9690-x">10.1007/s11071-010-9690-x</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_82"></a>Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” <i>Nonlinear Dynamics</i> 61 (4): 829–45. doi:<a href="https://doi.org/10.1007/s11071-010-9690-x">10.1007/s11071-010-9690-x</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_82"></a>Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In <i>2011 6th IEEE Conference on Industrial Electronics and Applications</i>. doi:<a href="https://doi.org/10.1109/iciea.2011.5975679">10.1109/iciea.2011.5975679</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_83"></a>Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In <i>2011 6th IEEE Conference on Industrial Electronics and Applications</i>. doi:<a href="https://doi.org/10.1109/iciea.2011.5975679">10.1109/iciea.2011.5975679</a>.</div>
 </div>

content/zettels/stick_slip_piezo_stage.md

@@ -16,9 +16,3 @@ Tags
 
 
 ## Smartact {#smartact}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/strain_sensors.md

@@ -13,9 +13,3 @@ Tags
 ## Manufacturers {#manufacturers}
 
 <https://www.wormsensing.com/sensors>
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/synchrotron_radiation_facilities.md

@@ -36,9 +36,3 @@ Tags
 | [NanoTerasu](https://www.qst.go.jp/site/3gev-eng/)                                          | Japan                | 4th            | In operation    | 3GeV    |            | 1nm.rad            | 400mA   |
 | [Australian Synchrotron](https://www.ansto.gov.au/facilities/australian-synchrotron)        | Australia, Clayton   | 3rd            |                 | 3GeV    |            | 16nm.rad           | 200mA   |
 | [Canadian Light Source](https://www.lightsource.ca/index.php)                               | Canada, Saskatchewan | 3rd            |                 | 3GeV    |            | 18nm.rad           | 220mA   |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/test.md

@@ -465,7 +465,7 @@ Numbering can be continued by using `+n` option as shown below.
 ```
 <div class="src-block-caption">
   <span class="src-block-number"><a href="#code-snippet--lst:tikz-test-general-control-names">Code Snippet 4</a>:</span>
-  Tikz code that is used to generate <a href="#org587cbdd">5</a>
+  Tikz code that is used to generate <a href="#orgd87d21e">5</a>
 </div>
 
 <a id="figure--fig:test-general-control-names"></a>

content/zettels/time_delay.md

@@ -76,9 +76,3 @@ At the Nyquist frequency (5 kHz), the phase lag is 180 degrees.
 {{< figure src="/ox-hugo/time_delay_induced_phase_lag.png" caption="<span class='figure-number'>Figure 1: </span>Phase lag induced by a time delay" >}}
 
 </div>
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/tip_tilt_mirrors.md

@@ -22,9 +22,3 @@ Tags
 | [Maradin](http://www.maradin.co.il/products/mar1100-mems-2d-laser-scanning-mirror/)            | Israel      |
 | [Opus](http://www.opusmicro.com/mems_en.html)                                                  | Taiwan      |
 | [Ulsis](https://www.ulsis.com/)                                                                | Turc        |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/torque_motor.md

@@ -29,9 +29,3 @@ Due to cogging, the fundamental period of the error is: number of pair poles \*
 | [ThinGap](https://www.thingap.com/)                                                                                | USA         |
 | [CeleraMotion](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-rotary-motors/)            | USA         |
 | [AlliedMotion](https://www.alliedmotion.com/)                                                                      | USA         |
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/trainings.md

@@ -20,9 +20,3 @@ Mechatronics:
 Matlab:
 
 -   [Mathworks](https://www.mathworks.com/training-schedule/)
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/transconductance_amplifiers.md

@@ -57,7 +57,7 @@ Such amplifier is used to control motors (e.g. voice coil, BLDC, stepper motors,
 
 ## Required properties {#required-properties}
 
-Main required properties are (taken from (<a href="#citeproc_bib_item_4">Schmidt, Schitter, and Rankers 2020</a>)):
+Main required properties are (taken from (<a href="#citeproc_bib_item_2">Schmidt, Schitter, and Rankers 2020</a>)):
 
 -   **Power delivery capability**
 -   **Dynamic properties**
@@ -221,69 +221,20 @@ Howland current source is shown in [Figure 1](#figure--fig:art-electronics-curre
 
 <a id="figure--fig:art-electronics-current-source"></a>
 
-{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="<span class='figure-number'>Figure 1: </span>From (<a href='#citeproc_bib_item_1'>Horowitz 2015</a>)" >}}
+{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="<span class='figure-number'>Figure 1: </span>From <&horowitz15_art_of_elect_third_edition>" >}}
 
 
 ### Other circuits found in the litterature {#other-circuits-found-in-the-litterature}
 
-{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="<span class='figure-number'>Figure 2: </span>From (<a href='#citeproc_bib_item_2'>Lafarga 2024</a>), Appendix B" >}}
+{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="<span class='figure-number'>Figure 2: </span>From <&lafarga24_activ_vibrat_isolat_system_space_applic>, Appendix B" >}}
 
-{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="<span class='figure-number'>Figure 3: </span>From (<a href='#citeproc_bib_item_3'>Okyay 2016</a>), Appendix A" >}}
+{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="<span class='figure-number'>Figure 3: </span>From <&okyay16_mechat_desig_dynam_contr_metrol>, Appendix A" >}}
 
 
 ## Estimation of the required current noise {#estimation-of-the-required-current-noise}
 
-
+Let's consider a simple suspended mass (with mass `m` in kg) driven by a voice coil (with a motor constant `Kt` in N/A).
-### Voice Coil Actuator with flexible guiding {#voice-coil-actuator-with-flexible-guiding}
+The control is done in closed-loop, with a feedback bandwidth `fb` in Hz.
-
-```matlab
-%% Frequency vector used for the analysis
-freqs = logspace(0, 4, 1000); % [Hz]
-
-%% Motor properties
-Kt = 28; % Force constant [N/A]
-
-%% Amplifier Noise
-In = 1e-6.*ones(size(freqs)); % Current noise density [A/sqrt(Hz)]
-
-%% DAC Noise
-Vn = (20/2^20)^2/12*1e4*ones(size(freqs)); % DAC output noise in [V/sqrt(Hz)]
-Vn = 3e-8
-Gi = 0.2; % Amplifier Gain [A/V]
-
-%% Mechanical properties
-m = 200e-3; % Mobile mass [kg]
-k = 1e3; % Guiding stiffness [N/m]
-xi = 0.05; % Modal Damping
-```
-
-```matlab
-%% Transfer function from F [N] to x [m]
-Gx = 1/(m*s^2);
-```
-
-```matlab
-%% Transfer function from I [A] to x [m]
-x_asd_i = In.*abs(squeeze(freqresp(Gx*Kt, freqs, 'Hz')))';
-x_asd_v = Vn.*abs(squeeze(freqresp(Gx*Gi*Kt, freqs, 'Hz')))';
-
-%% Cumulative amplitude spectrum
-figure;
-tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
-
-nexttile();
-hold on;
-plot(freqs, sqrt(flip(-cumtrapz(flip(freqs), flip(x_asd_i.^2)))) , '-');
-plot(freqs, sqrt(flip(-cumtrapz(flip(freqs), flip(x_asd_v.^2)))) , '-');
-plot(freqs, ex , '-');
-hold off;
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Magnitude'); xlabel('Frequency [Hz]');
-xlim([0, 1e3]);
-```
-
-
-### Approximate analytical formula {#approximate-analytical-formula}
 
 Parameters:
 
@@ -304,40 +255,32 @@ We have that the residual motion when the feedback controller is closed is appro
 
 Therefore, this formula can be used to:
 
--
-
-<!--listend-->
-
 ```matlab
 %% Estimate the position stability from the current noise and system parameters
-m = 1; % [kg]
+m  = 1; % [kg]
 In = 1e-6; % [A/sqrt(Hz)]
 Kt = 10; % [N/A]
-fb = 10; % [Hz]
+fb = 100; % [Hz]
 
 ex = In*Kt/m/(2*pi)^2*sqrt(1./(3*fb^3));
 ```
 
 ```text
-epsilon x = 4.6 [nm RMS]
+epsilon x = 0.15 [nm RMS]
 ```
 
--
-
-<!--listend-->
-
 ```matlab
 %% Estimate the required current noise from the wanted position stability and the parameters of the system
-m = 1; % [kg]
+m  = 1; % [kg]
 Kt = 10; % [N/A]
-fb = 50; % [Hz]
+fb = 100; % [Hz]
 ex = 1e-9; % [m RMS]
 
 In = ex*m*(2*pi)^2/Kt * sqrt(3*fb^3);
 ```
 
 ```text
-In = 2.4e-06 [A/sqrt(Hz)]
+In = 6.8e-06 [A/sqrt(Hz)]
 ```
 
 
@@ -345,7 +288,5 @@ In = 2.4e-06 [A/sqrt(Hz)]
 
 <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>Horowitz, Paul. 2015. <i>The Art of Electronics - Third Edition</i>. New York, NY, USA: Cambridge University Press.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Lafarga, Vicente. 2024. “Active Vibration Isolation System for Space Applications.” ULB.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Okyay, A. 2016. “Mechatronic Design, Dynamics, Controls, and Metrology of a Long-Stroke Linear Nano-Positioner.” University of Waterloo.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
 </div>

content/zettels/vibration_isolation.md

@@ -8,9 +8,3 @@ subcategory = "Vibration Control"
 
 Tags
 :
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/virtual_sensor_fusion.md

@@ -8,9 +8,3 @@ subcategory = "Sensor and Actuator Fusion"
 
 Tags
 :
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/weighting_functions.md

@@ -8,9 +8,3 @@ subcategory = "Advanced Control"
 
 Tags
 : [H Infinity Control]({{< relref "h_infinity_control.md" >}})
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/wheatstone_bridge.md

@@ -18,9 +18,3 @@ They are used to read various sensors:
 <a id="figure--fig:wheatstone-bridge"></a>
 
 {{< figure src="/ox-hugo/wheatstone_bridge.jpg" caption="<span class='figure-number'>Figure 1: </span>Electrical schematic of a Wheatstone bridge" >}}
-
-
-## Bibliography {#bibliography}
-
-<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
-</div>

content/zettels/z_transform.md

@@ -14,9 +14,3 @@ Tags
 A continuous transfer function (i.e. in the Laplace domain) can easily be converted to the discrete time domain (i.e. in the z-domain) using the `c2d` Matlab command ([doc](https://fr.mathworks.com/help/control/ref/lti.c2d.html;jsessionid=206bd0fc8950c5f8cb6b568d7393#mw_53fc4689-2099-41d0-93b3-de1e51a174c1)).
 
 Several methods can be used, each with some advantages and drawbacks, see [this document](https://fr.mathworks.com/help/control/ug/continuous-discrete-conversion-methods.html).
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-## Bibliography {#bibliography}
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