tdehaeze/lecture-h-infinity
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add analysis on the sensitivity function stape

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-12-01 13:41:12 +01:00
parent bd27568455
commit 7a1817c20d
9 changed files with 563 additions and 565 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
figs/h-infinity-spec-S.pdf
View File

Binary file not shown.

BIN
figs/h-infinity-spec-S.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 30 KiB

After

Width:  |  Height:  |  Size: 22 KiB

297
figs/h-infinity-spec-S.svg
View File

@ -24,45 +24,39 @@
<path style="stroke:none;" d="M 4.53125 -1.671875 C 4.53125 -2.015625 4.421875 -2.46875 4.046875 -2.875 C 3.859375 -3.09375 3.6875 -3.1875 3.0625 -3.59375 C 3.78125 -3.953125 4.265625 -4.46875 4.265625 -5.125 C 4.265625 -6.03125 3.375 -6.59375 2.484375 -6.59375 C 1.484375 -6.59375 0.6875 -5.859375 0.6875 -4.9375 C 0.6875 -4.765625 0.703125 -4.3125 1.125 -3.859375 C 1.234375 -3.734375 1.59375 -3.484375 1.84375 -3.3125 C 1.265625 -3.03125 0.421875 -2.484375 0.421875 -1.5 C 0.421875 -0.453125 1.421875 0.21875 2.46875 0.21875 C 3.59375 0.21875 4.53125 -0.609375 4.53125 -1.671875 Z M 3.828125 -5.125 C 3.828125 -4.5625 3.4375 -4.078125 2.84375 -3.734375 L 1.609375 -4.53125 C 1.15625 -4.828125 1.125 -5.15625 1.125 -5.328125 C 1.125 -5.9375 1.765625 -6.34375 2.46875 -6.34375 C 3.1875 -6.34375 3.828125 -5.828125 3.828125 -5.125 Z M 4.03125 -1.3125 C 4.03125 -0.578125 3.28125 -0.0625 2.484375 -0.0625 C 1.625 -0.0625 0.90625 -0.671875 0.90625 -1.5 C 0.90625 -2.078125 1.234375 -2.703125 2.078125 -3.171875 L 3.28125 -2.390625 C 3.5625 -2.203125 4.03125 -1.90625 4.03125 -1.3125 Z M 4.03125 -1.3125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 5.21875 0 L 5.21875 -0.3125 C 4.53125 -0.3125 4.453125 -0.375 4.453125 -0.859375 L 4.453125 -6.875 L 3.015625 -6.765625 L 3.015625 -6.453125 C 3.71875 -6.453125 3.796875 -6.390625 3.796875 -5.90625 L 3.796875 -3.765625 C 3.5 -4.125 3.078125 -4.375 2.546875 -4.375 C 1.375 -4.375 0.34375 -3.40625 0.34375 -2.125 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.515625 -0.234375 3.765625 -0.546875 L 3.765625 0.109375 Z M 3.765625 -1.171875 C 3.765625 -0.984375 3.765625 -0.96875 3.65625 -0.796875 C 3.359375 -0.328125 2.90625 -0.109375 2.484375 -0.109375 C 2.046875 -0.109375 1.6875 -0.359375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.484375 1.171875 -3.078125 1.46875 -3.53125 C 1.671875 -3.828125 2.046875 -4.15625 2.578125 -4.15625 C 2.9375 -4.15625 3.34375 -4.015625 3.65625 -3.5625 C 3.765625 -3.390625 3.765625 -3.375 3.765625 -3.203125 Z M 3.765625 -1.171875 "/>
<path style="stroke:none;" d="M 6.046875 -4.5 L 5.765625 -6.734375 L 0.328125 -6.734375 L 0.328125 -6.421875 L 0.5625 -6.421875 C 1.328125 -6.421875 1.34375 -6.3125 1.34375 -5.96875 L 1.34375 -0.765625 C 1.34375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.453125 -0.03125 1.828125 -0.03125 C 2.234375 -0.03125 3.140625 -0.03125 3.5 0 L 3.5 -0.3125 L 3.171875 -0.3125 C 2.234375 -0.3125 2.234375 -0.4375 2.234375 -0.78125 L 2.234375 -3.21875 L 3.078125 -3.21875 C 4.03125 -3.21875 4.125 -2.90625 4.125 -2.0625 L 4.375 -2.0625 L 4.375 -4.6875 L 4.125 -4.6875 C 4.125 -3.859375 4.03125 -3.53125 3.078125 -3.53125 L 2.234375 -3.53125 L 2.234375 -6.03125 C 2.234375 -6.359375 2.25 -6.421875 2.71875 -6.421875 L 3.90625 -6.421875 C 5.390625 -6.421875 5.640625 -5.875 5.796875 -4.5 Z M 6.046875 -4.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 6.453125 -1.8125 C 6.453125 -2.671875 5.640625 -3.421875 4.53125 -3.53125 C 5.5 -3.71875 6.1875 -4.359375 6.1875 -5.09375 C 6.1875 -5.953125 5.265625 -6.765625 3.984375 -6.765625 L 0.359375 -6.765625 L 0.359375 -6.453125 L 0.59375 -6.453125 C 1.359375 -6.453125 1.375 -6.34375 1.375 -6 L 1.375 -0.765625 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.359375 -0.3125 L 0.359375 0 L 4.234375 0 C 5.5625 0 6.453125 -0.875 6.453125 -1.8125 Z M 5.21875 -5.09375 C 5.21875 -4.453125 4.734375 -3.625 3.640625 -3.625 L 2.203125 -3.625 L 2.203125 -6.0625 C 2.203125 -6.390625 2.21875 -6.453125 2.6875 -6.453125 L 3.90625 -6.453125 C 4.875 -6.453125 5.21875 -5.609375 5.21875 -5.09375 Z M 5.453125 -1.828125 C 5.453125 -1.125 4.9375 -0.3125 3.921875 -0.3125 L 2.6875 -0.3125 C 2.21875 -0.3125 2.203125 -0.375 2.203125 -0.703125 L 2.203125 -3.40625 L 4.0625 -3.40625 C 5.046875 -3.40625 5.453125 -2.484375 5.453125 -1.828125 Z M 5.453125 -1.828125 "/>
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.015625 -1.28125 3.984375 -1.28125 C 3.890625 -1.28125 3.875 -1.234375 3.859375 -1.171875 C 3.5625 -0.25 2.921875 -0.140625 2.5625 -0.140625 C 2.03125 -0.140625 1.15625 -0.5625 1.15625 -2.15625 C 1.15625 -3.78125 1.96875 -4.1875 2.5 -4.1875 C 2.578125 -4.1875 3.203125 -4.1875 3.5625 -3.828125 C 3.15625 -3.796875 3.09375 -3.5 3.09375 -3.375 C 3.09375 -3.109375 3.265625 -2.90625 3.546875 -2.90625 C 3.796875 -2.90625 4 -3.078125 4 -3.375 C 4 -4.046875 3.25 -4.4375 2.484375 -4.4375 C 1.25 -4.4375 0.34375 -3.375 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.46875 0.109375 C 3.796875 0.109375 4.109375 -1.078125 4.109375 -1.171875 Z M 4.109375 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 6.046875 -4.5 L 5.765625 -6.734375 L 0.328125 -6.734375 L 0.328125 -6.421875 L 0.5625 -6.421875 C 1.328125 -6.421875 1.34375 -6.3125 1.34375 -5.96875 L 1.34375 -0.765625 C 1.34375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.453125 -0.03125 1.828125 -0.03125 C 2.234375 -0.03125 3.140625 -0.03125 3.5 0 L 3.5 -0.3125 L 3.171875 -0.3125 C 2.234375 -0.3125 2.234375 -0.4375 2.234375 -0.78125 L 2.234375 -3.21875 L 3.078125 -3.21875 C 4.03125 -3.21875 4.125 -2.90625 4.125 -2.0625 L 4.375 -2.0625 L 4.375 -4.6875 L 4.125 -4.6875 C 4.125 -3.859375 4.03125 -3.53125 3.078125 -3.53125 L 2.234375 -3.53125 L 2.234375 -6.03125 C 2.234375 -6.359375 2.25 -6.421875 2.71875 -6.421875 L 3.90625 -6.421875 C 5.390625 -6.421875 5.640625 -5.875 5.796875 -4.5 Z M 6.046875 -4.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 5.21875 1.921875 L 5.21875 1.609375 C 4.5625 1.609375 4.453125 1.609375 4.453125 1.171875 L 4.453125 -4.375 L 4.234375 -4.375 L 3.859375 -3.484375 C 3.71875 -3.75 3.3125 -4.375 2.53125 -4.375 C 1.375 -4.375 0.34375 -3.421875 0.34375 -2.125 C 0.34375 -0.890625 1.296875 0.109375 2.453125 0.109375 C 3.140625 0.109375 3.546875 -0.3125 3.765625 -0.609375 L 3.765625 1.171875 C 3.765625 1.609375 3.65625 1.609375 2.984375 1.609375 L 2.984375 1.921875 L 4.09375 1.890625 Z M 3.796875 -1.34375 C 3.796875 -1.03125 3.609375 -0.75 3.390625 -0.515625 C 3.265625 -0.375 2.953125 -0.109375 2.484375 -0.109375 C 1.765625 -0.109375 1.15625 -0.984375 1.15625 -2.125 C 1.15625 -3.3125 1.859375 -4.125 2.578125 -4.125 C 3.375 -4.125 3.796875 -3.265625 3.796875 -2.75 Z M 3.796875 -1.34375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.375 L 3.078125 -4.265625 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.890625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.640625 -0.109375 C 1.8125 -0.109375 1.765625 -0.578125 1.765625 -1.09375 L 1.765625 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.046875 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-15">
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-16">
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.015625 -1.28125 3.984375 -1.28125 C 3.890625 -1.28125 3.875 -1.234375 3.859375 -1.171875 C 3.5625 -0.25 2.921875 -0.140625 2.5625 -0.140625 C 2.03125 -0.140625 1.15625 -0.5625 1.15625 -2.15625 C 1.15625 -3.78125 1.96875 -4.1875 2.5 -4.1875 C 2.578125 -4.1875 3.203125 -4.1875 3.5625 -3.828125 C 3.15625 -3.796875 3.09375 -3.5 3.09375 -3.375 C 3.09375 -3.109375 3.265625 -2.90625 3.546875 -2.90625 C 3.796875 -2.90625 4 -3.078125 4 -3.375 C 4 -4.046875 3.25 -4.4375 2.484375 -4.4375 C 1.25 -4.4375 0.34375 -3.375 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.46875 0.109375 C 3.796875 0.109375 4.109375 -1.078125 4.109375 -1.171875 Z M 4.109375 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<path style="stroke:none;" d="M 5.03125 -3.96875 L 5.03125 -4.265625 C 4.796875 -4.25 4.515625 -4.234375 4.296875 -4.234375 L 3.421875 -4.265625 L 3.421875 -3.96875 C 3.734375 -3.953125 3.890625 -3.78125 3.890625 -3.53125 C 3.890625 -3.4375 3.890625 -3.421875 3.828125 -3.296875 L 2.828125 -0.859375 L 1.734375 -3.53125 C 1.6875 -3.625 1.671875 -3.671875 1.671875 -3.703125 C 1.671875 -3.96875 2.046875 -3.96875 2.234375 -3.96875 L 2.234375 -4.265625 L 1.15625 -4.234375 C 0.875 -4.234375 0.484375 -4.25 0.1875 -4.265625 L 0.1875 -3.96875 C 0.65625 -3.96875 0.859375 -3.96875 0.984375 -3.609375 L 2.484375 0 L 2.234375 0.578125 C 2.015625 1.125 1.734375 1.8125 1.09375 1.8125 C 1.046875 1.8125 0.828125 1.8125 0.640625 1.640625 C 0.9375 1.59375 1.015625 1.375 1.015625 1.21875 C 1.015625 0.953125 0.828125 0.796875 0.609375 0.796875 C 0.40625 0.796875 0.1875 0.9375 0.1875 1.234375 C 0.1875 1.671875 0.609375 2.03125 1.09375 2.03125 C 1.71875 2.03125 2.125 1.46875 2.375 0.90625 L 4.109375 -3.328125 C 4.375 -3.953125 4.875 -3.96875 5.03125 -3.96875 Z M 5.03125 -3.96875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-17">
<symbol overflow="visible" id="glyph0-15">
<path style="stroke:none;" d="M 2.53125 2.484375 L 2.53125 2.078125 L 1.5625 2.078125 L 1.5625 -7.03125 L 2.53125 -7.03125 L 2.53125 -7.4375 L 1.171875 -7.4375 L 1.171875 2.484375 Z M 2.53125 2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-18">
<symbol overflow="visible" id="glyph0-16">
<path style="stroke:none;" d="M 7.09375 0 L 7.09375 -0.3125 L 6.859375 -0.3125 C 6.09375 -0.3125 6.078125 -0.421875 6.078125 -0.765625 L 6.078125 -6 C 6.078125 -6.34375 6.09375 -6.453125 6.859375 -6.453125 L 7.09375 -6.453125 L 7.09375 -6.765625 C 6.75 -6.734375 6.015625 -6.734375 5.640625 -6.734375 C 5.265625 -6.734375 4.515625 -6.734375 4.171875 -6.765625 L 4.171875 -6.453125 L 4.40625 -6.453125 C 5.171875 -6.453125 5.1875 -6.34375 5.1875 -6 L 5.1875 -3.671875 L 2.234375 -3.671875 L 2.234375 -6 C 2.234375 -6.34375 2.25 -6.453125 3.015625 -6.453125 L 3.25 -6.453125 L 3.25 -6.765625 C 2.90625 -6.734375 2.171875 -6.734375 1.796875 -6.734375 C 1.421875 -6.734375 0.671875 -6.734375 0.328125 -6.765625 L 0.328125 -6.453125 L 0.5625 -6.453125 C 1.328125 -6.453125 1.34375 -6.34375 1.34375 -6 L 1.34375 -0.765625 C 1.34375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.40625 -0.03125 1.78125 -0.03125 C 2.15625 -0.03125 2.90625 -0.03125 3.25 0 L 3.25 -0.3125 L 3.015625 -0.3125 C 2.25 -0.3125 2.234375 -0.421875 2.234375 -0.765625 L 2.234375 -3.375 L 5.1875 -3.375 L 5.1875 -0.765625 C 5.1875 -0.421875 5.171875 -0.3125 4.40625 -0.3125 L 4.171875 -0.3125 L 4.171875 0 C 4.515625 -0.03125 5.25 -0.03125 5.625 -0.03125 C 6 -0.03125 6.75 -0.03125 7.09375 0 Z M 7.09375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-19">
<symbol overflow="visible" id="glyph0-17">
<path style="stroke:none;" d="M 3.96875 -1.859375 L 3.71875 -1.859375 C 3.640625 -0.6875 3.421875 -0.25 2.28125 -0.25 L 1.109375 -0.25 L 3.859375 -3.96875 C 3.953125 -4.078125 3.953125 -4.09375 3.953125 -4.140625 C 3.953125 -4.265625 3.875 -4.265625 3.6875 -4.265625 L 0.53125 -4.265625 L 0.421875 -2.671875 L 0.65625 -2.671875 C 0.71875 -3.6875 0.90625 -4.046875 2 -4.046875 L 3.125 -4.046875 L 0.359375 -0.3125 C 0.28125 -0.203125 0.28125 -0.1875 0.28125 -0.140625 C 0.28125 0 0.34375 0 0.53125 0 L 3.796875 0 Z M 3.96875 -1.859375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-20">
<symbol overflow="visible" id="glyph0-18">
<path style="stroke:none;" d="M 1.578125 2.484375 L 1.578125 -7.4375 L 0.21875 -7.4375 L 0.21875 -7.03125 L 1.171875 -7.03125 L 1.171875 2.078125 L 0.21875 2.078125 L 0.21875 2.484375 Z M 1.578125 2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-0">
@ -95,9 +89,6 @@
<symbol overflow="visible" id="glyph3-1">
<path style="stroke:none;" d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph3-2">
<path style="stroke:none;" d="M 9.34375 -2.484375 C 9.34375 -2.53125 9.296875 -2.5625 9.265625 -2.578125 C 8.203125 -2.953125 7.421875 -3.859375 7.234375 -4.96875 C 7.21875 -5.015625 7.171875 -5.0625 7.125 -5.0625 L 6.9375 -5.0625 C 6.890625 -5.0625 6.828125 -5.015625 6.828125 -4.9375 C 7 -4.015625 7.515625 -3.203125 8.25 -2.671875 L 0.75 -2.671875 C 0.609375 -2.671875 0.546875 -2.578125 0.546875 -2.484375 C 0.546875 -2.375 0.609375 -2.28125 0.75 -2.28125 L 8.25 -2.28125 C 7.515625 -1.75 7 -0.9375 6.828125 -0.015625 C 6.828125 0.0625 6.890625 0.109375 6.9375 0.109375 L 7.125 0.109375 C 7.171875 0.109375 7.21875 0.0625 7.234375 0.015625 C 7.421875 -1.09375 8.203125 -2 9.265625 -2.375 C 9.296875 -2.390625 9.34375 -2.421875 9.34375 -2.484375 Z M 9.34375 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-0">
<path style="stroke:none;" d=""/>
</symbol>
@ -105,114 +96,90 @@
<path style="stroke:none;" d="M 4.203125 -1.46875 C 4.203125 -2.15625 3.75 -2.859375 2.9375 -3.046875 L 1.84375 -3.296875 C 1.34375 -3.421875 0.96875 -3.828125 0.96875 -4.3125 C 0.96875 -4.84375 1.421875 -5.34375 2.109375 -5.34375 C 3.484375 -5.34375 3.671875 -4.0625 3.703125 -3.75 C 3.71875 -3.671875 3.734375 -3.609375 3.828125 -3.609375 C 3.96875 -3.609375 3.96875 -3.671875 3.96875 -3.8125 L 3.96875 -5.375 C 3.96875 -5.5 3.96875 -5.578125 3.859375 -5.578125 C 3.796875 -5.578125 3.78125 -5.546875 3.71875 -5.46875 L 3.453125 -5.015625 C 3.046875 -5.453125 2.546875 -5.578125 2.109375 -5.578125 C 1.171875 -5.578125 0.46875 -4.859375 0.46875 -4.0625 C 0.46875 -3.453125 0.8125 -3.125 0.953125 -2.96875 C 1.25 -2.6875 1.5 -2.625 2.359375 -2.421875 C 3.046875 -2.265625 3.15625 -2.234375 3.421875 -1.96875 C 3.5 -1.875 3.703125 -1.609375 3.703125 -1.21875 C 3.703125 -0.671875 3.28125 -0.09375 2.53125 -0.09375 C 1.65625 -0.09375 0.765625 -0.515625 0.71875 -1.609375 C 0.703125 -1.75 0.703125 -1.796875 0.59375 -1.796875 C 0.46875 -1.796875 0.46875 -1.734375 0.46875 -1.578125 L 0.46875 -0.046875 C 0.46875 0.09375 0.46875 0.171875 0.578125 0.171875 C 0.640625 0.171875 0.640625 0.15625 0.703125 0.078125 C 0.734375 0.03125 0.765625 -0.046875 0.984375 -0.375 C 1.484375 0.0625 2.0625 0.171875 2.546875 0.171875 C 3.53125 0.171875 4.203125 -0.625 4.203125 -1.46875 Z M 4.203125 -1.46875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-2">
<path style="stroke:none;" d="M 2.796875 -0.984375 L 2.796875 -1.4375 L 2.546875 -1.4375 L 2.546875 -1 C 2.546875 -0.453125 2.3125 -0.171875 2 -0.171875 C 1.46875 -0.171875 1.46875 -0.84375 1.46875 -0.96875 L 1.46875 -3.15625 L 2.65625 -3.15625 L 2.65625 -3.421875 L 1.46875 -3.421875 L 1.46875 -4.875 L 1.234375 -4.875 C 1.21875 -4.15625 0.890625 -3.40625 0.15625 -3.375 L 0.15625 -3.15625 L 0.875 -3.15625 L 0.875 -0.984375 C 0.875 -0.0625 1.578125 0.078125 1.953125 0.078125 C 2.484375 0.078125 2.796875 -0.390625 2.796875 -0.984375 Z M 2.796875 -0.984375 "/>
<path style="stroke:none;" d="M 6.796875 0 L 6.796875 -0.265625 C 6.28125 -0.265625 6.1875 -0.265625 6.1875 -0.625 L 6.1875 -2.40625 C 6.1875 -3.046875 5.90625 -3.5 5.046875 -3.5 C 4.3125 -3.5 3.953125 -3 3.828125 -2.765625 C 3.6875 -3.328125 3.234375 -3.5 2.71875 -3.5 C 1.953125 -3.5 1.578125 -2.953125 1.484375 -2.734375 L 1.46875 -2.734375 L 1.46875 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.859375 -3.140625 0.921875 -3.09375 0.921875 -2.703125 L 0.921875 -0.625 C 0.921875 -0.265625 0.828125 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.671875 -0.03125 1.015625 -0.03125 1.234375 -0.03125 C 1.453125 -0.03125 1.796875 -0.03125 2.125 0 L 2.125 -0.265625 C 1.625 -0.265625 1.53125 -0.265625 1.53125 -0.625 L 1.53125 -2.046875 C 1.53125 -2.890625 2.15625 -3.265625 2.65625 -3.265625 C 3.171875 -3.265625 3.25 -2.875 3.25 -2.4375 L 3.25 -0.625 C 3.25 -0.265625 3.15625 -0.265625 2.65625 -0.265625 L 2.65625 0 C 3 -0.03125 3.34375 -0.03125 3.5625 -0.03125 C 3.78125 -0.03125 4.125 -0.03125 4.453125 0 L 4.453125 -0.265625 C 3.953125 -0.265625 3.859375 -0.265625 3.859375 -0.625 L 3.859375 -2.046875 C 3.859375 -2.890625 4.484375 -3.265625 4.984375 -3.265625 C 5.5 -3.265625 5.578125 -2.875 5.578125 -2.4375 L 5.578125 -0.625 C 5.578125 -0.265625 5.484375 -0.265625 4.984375 -0.265625 L 4.984375 0 C 5.328125 -0.03125 5.671875 -0.03125 5.890625 -0.03125 C 6.109375 -0.03125 6.453125 -0.03125 6.796875 0 Z M 6.796875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-3">
<path style="stroke:none;" d="M 4.078125 -0.71875 L 4.078125 -1.15625 L 3.828125 -1.15625 L 3.828125 -0.71875 C 3.828125 -0.390625 3.703125 -0.265625 3.546875 -0.265625 C 3.25 -0.265625 3.25 -0.625 3.25 -0.71875 L 3.25 -2.359375 C 3.25 -3.140625 2.5 -3.53125 1.78125 -3.53125 C 1.109375 -3.53125 0.53125 -3.28125 0.53125 -2.75 C 0.53125 -2.515625 0.703125 -2.375 0.90625 -2.375 C 1.125 -2.375 1.28125 -2.53125 1.28125 -2.75 C 1.28125 -2.9375 1.15625 -3.078125 0.984375 -3.109375 C 1.28125 -3.3125 1.703125 -3.3125 1.765625 -3.3125 C 2.203125 -3.3125 2.640625 -3 2.640625 -2.359375 L 2.640625 -2.109375 C 2.1875 -2.078125 1.65625 -2.0625 1.09375 -1.828125 C 0.40625 -1.53125 0.265625 -1.0625 0.265625 -0.8125 C 0.265625 -0.125 1.0625 0.078125 1.609375 0.078125 C 2.1875 0.078125 2.546875 -0.25 2.71875 -0.5625 C 2.765625 -0.265625 2.96875 0.046875 3.3125 0.046875 C 3.40625 0.046875 4.078125 0.015625 4.078125 -0.71875 Z M 2.640625 -1.109375 C 2.640625 -0.34375 2 -0.140625 1.671875 -0.140625 C 1.265625 -0.140625 0.921875 -0.421875 0.921875 -0.796875 C 0.921875 -1.328125 1.40625 -1.859375 2.640625 -1.90625 Z M 2.640625 -1.109375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-4">
<path style="stroke:none;" d="M 2.0625 0 L 2.0625 -0.265625 C 1.546875 -0.265625 1.515625 -0.296875 1.515625 -0.609375 L 1.515625 -3.5 L 0.359375 -3.40625 L 0.359375 -3.140625 C 0.859375 -3.140625 0.9375 -3.09375 0.9375 -2.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.203125 -0.03125 C 1.3125 -0.03125 1.78125 -0.03125 2.0625 0 Z M 1.609375 -4.765625 C 1.609375 -5.03125 1.40625 -5.21875 1.171875 -5.21875 C 0.9375 -5.21875 0.734375 -5.03125 0.734375 -4.765625 C 0.734375 -4.546875 0.921875 -4.328125 1.171875 -4.328125 C 1.421875 -4.328125 1.609375 -4.546875 1.609375 -4.765625 Z M 1.609375 -4.765625 "/>
<path style="stroke:none;" d="M 2.109375 0 L 2.109375 -0.265625 C 1.609375 -0.265625 1.515625 -0.265625 1.515625 -0.625 L 1.515625 -5.5 L 0.328125 -5.40625 L 0.328125 -5.15625 C 0.875 -5.15625 0.9375 -5.09375 0.9375 -4.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.21875 -0.03125 C 1.375 -0.03125 1.8125 -0.03125 2.109375 0 Z M 2.109375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-5">
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -1.046875 3.390625 -1.046875 3.359375 -1.046875 C 3.3125 -1.046875 3.265625 -1.03125 3.25 -0.953125 C 3.1875 -0.796875 2.96875 -0.171875 2.171875 -0.171875 C 1.6875 -0.171875 0.984375 -0.546875 0.984375 -1.71875 C 0.984375 -2.859375 1.5625 -3.28125 2.140625 -3.28125 C 2.21875 -3.28125 2.640625 -3.28125 2.921875 -3.140625 C 2.6875 -3.078125 2.65625 -2.890625 2.65625 -2.796875 C 2.65625 -2.578125 2.8125 -2.421875 3.03125 -2.421875 C 3.234375 -2.421875 3.40625 -2.5625 3.40625 -2.796875 C 3.40625 -3.296875 2.875 -3.53125 2.125 -3.53125 C 1.015625 -3.53125 0.28125 -2.65625 0.28125 -1.71875 C 0.28125 -0.703125 1.09375 0.078125 2.09375 0.078125 C 3.21875 0.078125 3.5 -0.859375 3.5 -0.953125 Z M 3.5 -0.953125 "/>
<path style="stroke:none;" d="M 3.03125 -1.015625 C 3.03125 -1.40625 2.796875 -1.953125 1.859375 -2.125 C 1.796875 -2.140625 1.359375 -2.21875 1.328125 -2.21875 C 1.078125 -2.28125 0.703125 -2.453125 0.703125 -2.765625 C 0.703125 -3 0.875 -3.328125 1.625 -3.328125 C 2.515625 -3.328125 2.5625 -2.6875 2.578125 -2.46875 C 2.578125 -2.40625 2.640625 -2.375 2.6875 -2.375 C 2.8125 -2.375 2.8125 -2.4375 2.8125 -2.578125 L 2.8125 -3.328125 C 2.8125 -3.453125 2.8125 -3.53125 2.71875 -3.53125 C 2.671875 -3.53125 2.65625 -3.53125 2.53125 -3.40625 C 2.515625 -3.40625 2.4375 -3.328125 2.421875 -3.328125 C 2.421875 -3.328125 2.390625 -3.328125 2.34375 -3.359375 C 2.21875 -3.453125 1.984375 -3.53125 1.625 -3.53125 C 0.515625 -3.53125 0.28125 -2.9375 0.28125 -2.546875 C 0.28125 -2.15625 0.578125 -1.921875 0.59375 -1.90625 C 0.90625 -1.65625 1.09375 -1.625 1.625 -1.53125 C 2 -1.46875 2.609375 -1.359375 2.609375 -0.8125 C 2.609375 -0.5 2.40625 -0.140625 1.671875 -0.140625 C 0.875 -0.140625 0.640625 -0.765625 0.53125 -1.1875 C 0.5 -1.28125 0.5 -1.328125 0.40625 -1.328125 C 0.28125 -1.328125 0.28125 -1.265625 0.28125 -1.109375 L 0.28125 -0.125 C 0.28125 0 0.28125 0.078125 0.375 0.078125 C 0.421875 0.078125 0.4375 0.078125 0.578125 -0.078125 C 0.625 -0.125 0.703125 -0.21875 0.75 -0.265625 C 1.09375 0.0625 1.46875 0.078125 1.671875 0.078125 C 2.6875 0.078125 3.03125 -0.5 3.03125 -1.015625 Z M 3.03125 -1.015625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-6">
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -0.984375 3.46875 -1.0625 3.359375 -1.0625 C 3.28125 -1.0625 3.265625 -1 3.25 -0.953125 C 2.96875 -0.1875 2.28125 -0.171875 2.140625 -0.171875 C 1.78125 -0.171875 1.421875 -0.328125 1.1875 -0.703125 C 0.9375 -1.0625 0.9375 -1.5625 0.9375 -1.8125 L 3.265625 -1.8125 C 3.453125 -1.8125 3.5 -1.8125 3.5 -1.984375 C 3.5 -2.6875 3.109375 -3.53125 1.984375 -3.53125 C 1 -3.53125 0.234375 -2.71875 0.234375 -1.734375 C 0.234375 -0.71875 1.09375 0.078125 2.09375 0.078125 C 3.09375 0.078125 3.5 -0.765625 3.5 -0.953125 Z M 2.953125 -2.015625 L 0.953125 -2.015625 C 1.015625 -3.125 1.6875 -3.3125 1.984375 -3.3125 C 2.921875 -3.3125 2.953125 -2.1875 2.953125 -2.015625 Z M 2.953125 -2.015625 "/>
<path style="stroke:none;" d="M 2.796875 -0.984375 L 2.796875 -1.4375 L 2.546875 -1.4375 L 2.546875 -1 C 2.546875 -0.453125 2.3125 -0.171875 2 -0.171875 C 1.46875 -0.171875 1.46875 -0.84375 1.46875 -0.96875 L 1.46875 -3.15625 L 2.65625 -3.15625 L 2.65625 -3.421875 L 1.46875 -3.421875 L 1.46875 -4.875 L 1.234375 -4.875 C 1.21875 -4.15625 0.890625 -3.40625 0.15625 -3.375 L 0.15625 -3.15625 L 0.875 -3.15625 L 0.875 -0.984375 C 0.875 -0.0625 1.578125 0.078125 1.953125 0.078125 C 2.484375 0.078125 2.796875 -0.390625 2.796875 -0.984375 Z M 2.796875 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-7">
<path style="stroke:none;" d="M 3.046875 -3 C 3.046875 -3.265625 2.78125 -3.5 2.4375 -3.5 C 1.921875 -3.5 1.578125 -3.109375 1.40625 -2.65625 L 1.40625 -3.5 L 0.28125 -3.40625 L 0.28125 -3.140625 C 0.8125 -3.140625 0.875 -3.09375 0.875 -2.703125 L 0.875 -0.625 C 0.875 -0.265625 0.78125 -0.265625 0.28125 -0.265625 L 0.28125 0 C 0.59375 -0.03125 1.015625 -0.03125 1.21875 -0.03125 C 1.671875 -0.03125 1.6875 -0.03125 2.203125 0 L 2.203125 -0.265625 L 2.046875 -0.265625 C 1.46875 -0.265625 1.453125 -0.34375 1.453125 -0.640625 L 1.453125 -1.8125 C 1.453125 -2.40625 1.703125 -3.25 2.46875 -3.265625 C 2.421875 -3.234375 2.34375 -3.171875 2.34375 -3 C 2.34375 -2.75 2.53125 -2.640625 2.6875 -2.640625 C 2.875 -2.640625 3.046875 -2.765625 3.046875 -3 Z M 3.046875 -3 "/>
<path style="stroke:none;" d="M 2.0625 0 L 2.0625 -0.265625 C 1.546875 -0.265625 1.515625 -0.296875 1.515625 -0.609375 L 1.515625 -3.5 L 0.359375 -3.40625 L 0.359375 -3.140625 C 0.859375 -3.140625 0.9375 -3.09375 0.9375 -2.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.203125 -0.03125 C 1.3125 -0.03125 1.78125 -0.03125 2.0625 0 Z M 1.609375 -4.765625 C 1.609375 -5.03125 1.40625 -5.21875 1.171875 -5.21875 C 0.9375 -5.21875 0.734375 -5.03125 0.734375 -4.765625 C 0.734375 -4.546875 0.921875 -4.328125 1.171875 -4.328125 C 1.421875 -4.328125 1.609375 -4.546875 1.609375 -4.765625 Z M 1.609375 -4.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-8">
<path style="stroke:none;" d="M 3.96875 -1.6875 C 3.96875 -2.671875 3.140625 -3.53125 2.09375 -3.53125 C 1.046875 -3.53125 0.234375 -2.671875 0.234375 -1.6875 C 0.234375 -0.703125 1.078125 0.078125 2.09375 0.078125 C 3.125 0.078125 3.96875 -0.703125 3.96875 -1.6875 Z M 3.25 -1.765625 C 3.25 -1.390625 3.234375 -0.953125 3.015625 -0.625 C 2.796875 -0.3125 2.453125 -0.171875 2.09375 -0.171875 C 1.671875 -0.171875 1.34375 -0.375 1.171875 -0.65625 C 0.96875 -0.96875 0.9375 -1.359375 0.9375 -1.765625 C 0.9375 -2.0625 0.9375 -2.53125 1.1875 -2.875 C 1.390625 -3.15625 1.734375 -3.3125 2.09375 -3.3125 C 2.515625 -3.3125 2.859375 -3.109375 3.03125 -2.84375 C 3.25 -2.5 3.25 -2.078125 3.25 -1.765625 Z M 3.25 -1.765625 "/>
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -1.046875 3.390625 -1.046875 3.359375 -1.046875 C 3.3125 -1.046875 3.265625 -1.03125 3.25 -0.953125 C 3.1875 -0.796875 2.96875 -0.171875 2.171875 -0.171875 C 1.6875 -0.171875 0.984375 -0.546875 0.984375 -1.71875 C 0.984375 -2.859375 1.5625 -3.28125 2.140625 -3.28125 C 2.21875 -3.28125 2.640625 -3.28125 2.921875 -3.140625 C 2.6875 -3.078125 2.65625 -2.890625 2.65625 -2.796875 C 2.65625 -2.578125 2.8125 -2.421875 3.03125 -2.421875 C 3.234375 -2.421875 3.40625 -2.5625 3.40625 -2.796875 C 3.40625 -3.296875 2.875 -3.53125 2.125 -3.53125 C 1.015625 -3.53125 0.28125 -2.65625 0.28125 -1.71875 C 0.28125 -0.703125 1.09375 0.078125 2.09375 0.078125 C 3.21875 0.078125 3.5 -0.859375 3.5 -0.953125 Z M 3.5 -0.953125 "/>
</symbol>
<symbol overflow="visible" id="glyph4-9">
<path style="stroke:none;" d="M 6.15625 -0.71875 C 6.15625 -0.765625 6.15625 -0.875 6.03125 -0.875 C 5.921875 -0.875 5.921875 -0.78125 5.921875 -0.734375 C 5.875 -0.234375 5.59375 -0.0625 5.375 -0.0625 C 4.953125 -0.0625 4.90625 -0.421875 4.765625 -1.421875 C 4.703125 -1.875 4.625 -2.421875 3.75 -2.6875 C 4.375 -2.859375 5.140625 -3.296875 5.140625 -3.984375 C 5.140625 -4.765625 4.125 -5.40625 2.953125 -5.40625 L 0.359375 -5.40625 L 0.359375 -5.15625 L 0.53125 -5.15625 C 1.15625 -5.15625 1.171875 -5.0625 1.171875 -4.765625 L 1.171875 -0.640625 C 1.171875 -0.34375 1.15625 -0.265625 0.53125 -0.265625 L 0.359375 -0.265625 L 0.359375 0 L 1.515625 -0.03125 L 2.671875 0 L 2.671875 -0.265625 L 2.5 -0.265625 C 1.890625 -0.265625 1.875 -0.34375 1.875 -0.640625 L 1.875 -2.59375 L 2.875 -2.59375 C 3.453125 -2.59375 3.71875 -2.3125 3.765625 -2.234375 C 4 -1.984375 4 -1.84375 4 -1.296875 C 4 -0.796875 4 -0.453125 4.328125 -0.171875 C 4.671875 0.125 5.125 0.171875 5.34375 0.171875 C 6 0.171875 6.15625 -0.484375 6.15625 -0.71875 Z M 4.3125 -3.984375 C 4.3125 -3.109375 3.671875 -2.8125 2.84375 -2.8125 L 1.875 -2.8125 L 1.875 -4.828125 C 1.875 -5.03125 1.875 -5.125 2.0625 -5.140625 C 2.140625 -5.15625 2.390625 -5.15625 2.546875 -5.15625 C 3.265625 -5.15625 4.3125 -5.15625 4.3125 -3.984375 Z M 4.3125 -3.984375 "/>
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -0.984375 3.46875 -1.0625 3.359375 -1.0625 C 3.28125 -1.0625 3.265625 -1 3.25 -0.953125 C 2.96875 -0.1875 2.28125 -0.171875 2.140625 -0.171875 C 1.78125 -0.171875 1.421875 -0.328125 1.1875 -0.703125 C 0.9375 -1.0625 0.9375 -1.5625 0.9375 -1.8125 L 3.265625 -1.8125 C 3.453125 -1.8125 3.5 -1.8125 3.5 -1.984375 C 3.5 -2.6875 3.109375 -3.53125 1.984375 -3.53125 C 1 -3.53125 0.234375 -2.71875 0.234375 -1.734375 C 0.234375 -0.71875 1.09375 0.078125 2.09375 0.078125 C 3.09375 0.078125 3.5 -0.765625 3.5 -0.953125 Z M 2.953125 -2.015625 L 0.953125 -2.015625 C 1.015625 -3.125 1.6875 -3.3125 1.984375 -3.3125 C 2.921875 -3.3125 2.953125 -2.1875 2.953125 -2.015625 Z M 2.953125 -2.015625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-10">
<path style="stroke:none;" d="M 2.984375 -5 C 2.984375 -5.34375 2.65625 -5.578125 2.234375 -5.578125 C 1.640625 -5.578125 0.9375 -5.15625 0.9375 -4.296875 L 0.9375 -3.421875 L 0.28125 -3.421875 L 0.28125 -3.15625 L 0.9375 -3.15625 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.265625 -0.03125 C 1.734375 -0.03125 1.75 -0.03125 2.265625 0 L 2.265625 -0.265625 L 2.109375 -0.265625 C 1.53125 -0.265625 1.515625 -0.34375 1.515625 -0.640625 L 1.515625 -3.15625 L 2.46875 -3.15625 L 2.46875 -3.421875 L 1.484375 -3.421875 L 1.484375 -4.3125 C 1.484375 -5 1.875 -5.359375 2.21875 -5.359375 C 2.359375 -5.359375 2.421875 -5.328125 2.453125 -5.3125 C 2.3125 -5.25 2.28125 -5.109375 2.28125 -5 C 2.28125 -4.796875 2.421875 -4.65625 2.625 -4.65625 C 2.84375 -4.65625 2.984375 -4.796875 2.984375 -5 Z M 2.984375 -5 "/>
<path style="stroke:none;" d="M 3.046875 -3 C 3.046875 -3.265625 2.78125 -3.5 2.4375 -3.5 C 1.921875 -3.5 1.578125 -3.109375 1.40625 -2.65625 L 1.40625 -3.5 L 0.28125 -3.40625 L 0.28125 -3.140625 C 0.8125 -3.140625 0.875 -3.09375 0.875 -2.703125 L 0.875 -0.625 C 0.875 -0.265625 0.78125 -0.265625 0.28125 -0.265625 L 0.28125 0 C 0.59375 -0.03125 1.015625 -0.03125 1.21875 -0.03125 C 1.671875 -0.03125 1.6875 -0.03125 2.203125 0 L 2.203125 -0.265625 L 2.046875 -0.265625 C 1.46875 -0.265625 1.453125 -0.34375 1.453125 -0.640625 L 1.453125 -1.8125 C 1.453125 -2.40625 1.703125 -3.25 2.46875 -3.265625 C 2.421875 -3.234375 2.34375 -3.171875 2.34375 -3 C 2.34375 -2.75 2.53125 -2.640625 2.6875 -2.640625 C 2.875 -2.640625 3.046875 -2.765625 3.046875 -3 Z M 3.046875 -3 "/>
</symbol>
<symbol overflow="visible" id="glyph4-11">
<path style="stroke:none;" d="M 1.609375 -0.4375 C 1.609375 -0.703125 1.390625 -0.875 1.171875 -0.875 C 0.90625 -0.875 0.734375 -0.671875 0.734375 -0.4375 C 0.734375 -0.171875 0.9375 0 1.171875 0 C 1.4375 0 1.609375 -0.21875 1.609375 -0.4375 Z M 1.609375 -0.4375 "/>
<path style="stroke:none;" d="M 3.96875 -1.6875 C 3.96875 -2.671875 3.140625 -3.53125 2.09375 -3.53125 C 1.046875 -3.53125 0.234375 -2.671875 0.234375 -1.6875 C 0.234375 -0.703125 1.078125 0.078125 2.09375 0.078125 C 3.125 0.078125 3.96875 -0.703125 3.96875 -1.6875 Z M 3.25 -1.765625 C 3.25 -1.390625 3.234375 -0.953125 3.015625 -0.625 C 2.796875 -0.3125 2.453125 -0.171875 2.09375 -0.171875 C 1.671875 -0.171875 1.34375 -0.375 1.171875 -0.65625 C 0.96875 -0.96875 0.9375 -1.359375 0.9375 -1.765625 C 0.9375 -2.0625 0.9375 -2.53125 1.1875 -2.875 C 1.390625 -3.15625 1.734375 -3.3125 2.09375 -3.3125 C 2.515625 -3.3125 2.859375 -3.109375 3.03125 -2.84375 C 3.25 -2.5 3.25 -2.078125 3.25 -1.765625 Z M 3.25 -1.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-12">
<path style="stroke:none;" d="M 4.296875 0 L 4.296875 -0.265625 C 3.96875 -0.265625 3.8125 -0.296875 3.53125 -0.671875 L 2.390625 -2.15625 L 3.0625 -2.6875 C 3.578125 -3.109375 3.90625 -3.140625 4.109375 -3.15625 L 4.109375 -3.421875 C 3.921875 -3.390625 3.8125 -3.390625 3.484375 -3.390625 C 3.09375 -3.390625 2.984375 -3.40625 2.640625 -3.421875 L 2.640625 -3.15625 C 2.78125 -3.140625 2.8125 -3.046875 2.8125 -3 C 2.8125 -2.828125 2.65625 -2.6875 2.59375 -2.640625 L 1.453125 -1.734375 L 1.453125 -5.5 L 0.28125 -5.40625 L 0.28125 -5.15625 C 0.8125 -5.15625 0.875 -5.09375 0.875 -4.703125 L 0.875 -0.625 C 0.875 -0.265625 0.78125 -0.265625 0.28125 -0.265625 L 0.28125 0 C 0.59375 -0.03125 1.015625 -0.03125 1.15625 -0.03125 C 1.3125 -0.03125 1.71875 -0.03125 2.03125 0 L 2.03125 -0.265625 C 1.515625 -0.265625 1.421875 -0.265625 1.421875 -0.625 L 1.421875 -1.390625 L 1.96875 -1.8125 C 1.984375 -1.8125 2.1875 -1.53125 2.328125 -1.390625 C 2.4375 -1.21875 2.5625 -1.0625 2.6875 -0.90625 C 2.796875 -0.75 2.96875 -0.53125 2.96875 -0.421875 C 2.96875 -0.28125 2.8125 -0.265625 2.71875 -0.265625 L 2.71875 0 C 3.0625 -0.03125 3.421875 -0.03125 3.5625 -0.03125 C 3.859375 -0.03125 4.015625 -0.03125 4.296875 0 Z M 4.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-13">
<path style="stroke:none;" d="M 4.390625 -1.71875 C 4.390625 -2.703125 3.59375 -3.5 2.625 -3.5 C 2.328125 -3.5 1.859375 -3.421875 1.453125 -3 L 1.453125 -3.5 L 0.28125 -3.40625 L 0.28125 -3.140625 C 0.84375 -3.140625 0.875 -3.09375 0.875 -2.765625 L 0.875 0.921875 C 0.875 1.28125 0.78125 1.28125 0.28125 1.28125 L 0.28125 1.53125 C 0.625 1.515625 0.96875 1.515625 1.1875 1.515625 C 1.40625 1.515625 1.75 1.515625 2.078125 1.53125 L 2.078125 1.28125 C 1.578125 1.28125 1.484375 1.28125 1.484375 0.921875 L 1.484375 -0.390625 C 1.859375 0.015625 2.25 0.078125 2.515625 0.078125 C 3.515625 0.078125 4.390625 -0.703125 4.390625 -1.71875 Z M 3.6875 -1.71875 C 3.6875 -0.796875 3.109375 -0.140625 2.46875 -0.140625 C 2.1875 -0.140625 1.828125 -0.265625 1.578125 -0.65625 C 1.484375 -0.796875 1.484375 -0.796875 1.484375 -0.953125 L 1.484375 -2.640625 C 1.65625 -2.953125 2.0625 -3.25 2.5625 -3.25 C 3.171875 -3.25 3.6875 -2.578125 3.6875 -1.71875 Z M 3.6875 -1.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-14">
<symbol overflow="visible" id="glyph4-13">
<path style="stroke:none;" d="M 4.390625 0 L 4.390625 -0.265625 C 3.84375 -0.265625 3.78125 -0.3125 3.78125 -0.703125 L 3.78125 -5.5 L 2.609375 -5.40625 L 2.609375 -5.15625 C 3.140625 -5.15625 3.203125 -5.09375 3.203125 -4.703125 L 3.203125 -3.03125 C 2.9375 -3.328125 2.5625 -3.5 2.140625 -3.5 C 1.15625 -3.5 0.28125 -2.71875 0.28125 -1.703125 C 0.28125 -0.734375 1.0625 0.078125 2.0625 0.078125 C 2.53125 0.078125 2.921875 -0.140625 3.1875 -0.421875 L 3.1875 0.078125 Z M 3.1875 -0.984375 C 3.1875 -0.84375 3.1875 -0.8125 3.0625 -0.65625 C 2.84375 -0.328125 2.484375 -0.140625 2.109375 -0.140625 C 1.75 -0.140625 1.421875 -0.328125 1.234375 -0.625 C 1.015625 -0.9375 0.984375 -1.328125 0.984375 -1.6875 C 0.984375 -2.15625 1.046875 -2.484375 1.234375 -2.75 C 1.421875 -3.046875 1.78125 -3.265625 2.1875 -3.265625 C 2.5625 -3.265625 2.953125 -3.078125 3.1875 -2.671875 Z M 3.1875 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-14">
<path style="stroke:none;" d="M 6.15625 -0.71875 C 6.15625 -0.765625 6.15625 -0.875 6.03125 -0.875 C 5.921875 -0.875 5.921875 -0.78125 5.921875 -0.734375 C 5.875 -0.234375 5.59375 -0.0625 5.375 -0.0625 C 4.953125 -0.0625 4.90625 -0.421875 4.765625 -1.421875 C 4.703125 -1.875 4.625 -2.421875 3.75 -2.6875 C 4.375 -2.859375 5.140625 -3.296875 5.140625 -3.984375 C 5.140625 -4.765625 4.125 -5.40625 2.953125 -5.40625 L 0.359375 -5.40625 L 0.359375 -5.15625 L 0.53125 -5.15625 C 1.15625 -5.15625 1.171875 -5.0625 1.171875 -4.765625 L 1.171875 -0.640625 C 1.171875 -0.34375 1.15625 -0.265625 0.53125 -0.265625 L 0.359375 -0.265625 L 0.359375 0 L 1.515625 -0.03125 L 2.671875 0 L 2.671875 -0.265625 L 2.5 -0.265625 C 1.890625 -0.265625 1.875 -0.34375 1.875 -0.640625 L 1.875 -2.59375 L 2.875 -2.59375 C 3.453125 -2.59375 3.71875 -2.3125 3.765625 -2.234375 C 4 -1.984375 4 -1.84375 4 -1.296875 C 4 -0.796875 4 -0.453125 4.328125 -0.171875 C 4.671875 0.125 5.125 0.171875 5.34375 0.171875 C 6 0.171875 6.15625 -0.484375 6.15625 -0.71875 Z M 4.3125 -3.984375 C 4.3125 -3.109375 3.671875 -2.8125 2.84375 -2.8125 L 1.875 -2.8125 L 1.875 -4.828125 C 1.875 -5.03125 1.875 -5.125 2.0625 -5.140625 C 2.140625 -5.15625 2.390625 -5.15625 2.546875 -5.15625 C 3.265625 -5.15625 4.3125 -5.15625 4.3125 -3.984375 Z M 4.3125 -3.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-15">
<path style="stroke:none;" d="M 7.3125 0 L 7.3125 -0.265625 L 7.140625 -0.265625 C 6.53125 -0.265625 6.515625 -0.34375 6.515625 -0.640625 L 6.515625 -4.765625 C 6.515625 -5.0625 6.53125 -5.15625 7.140625 -5.15625 L 7.3125 -5.15625 L 7.3125 -5.40625 L 5.96875 -5.40625 C 5.765625 -5.40625 5.75 -5.390625 5.6875 -5.25 L 3.84375 -0.75 L 2.015625 -5.234375 C 1.953125 -5.390625 1.9375 -5.40625 1.71875 -5.40625 L 0.390625 -5.40625 L 0.390625 -5.15625 L 0.5625 -5.15625 C 1.171875 -5.15625 1.1875 -5.0625 1.1875 -4.765625 L 1.1875 -0.84375 C 1.1875 -0.640625 1.1875 -0.265625 0.390625 -0.265625 L 0.390625 0 C 0.75 -0.03125 1.109375 -0.03125 1.328125 -0.03125 C 1.53125 -0.03125 1.90625 -0.03125 2.25 0 L 2.25 -0.265625 C 1.453125 -0.265625 1.453125 -0.640625 1.453125 -0.84375 L 1.453125 -5.046875 L 1.46875 -5.0625 L 3.46875 -0.1875 C 3.515625 -0.09375 3.546875 0 3.65625 0 C 3.75 0 3.796875 -0.09375 3.828125 -0.1875 L 5.859375 -5.125 L 5.859375 -0.640625 C 5.859375 -0.34375 5.84375 -0.265625 5.234375 -0.265625 L 5.0625 -0.265625 L 5.0625 0 L 6.1875 -0.03125 Z M 7.3125 0 "/>
<path style="stroke:none;" d="M 4.390625 -1.71875 C 4.390625 -2.703125 3.578125 -3.5 2.609375 -3.5 C 1.984375 -3.5 1.59375 -3.15625 1.453125 -3.015625 L 1.453125 -5.5 L 0.28125 -5.40625 L 0.28125 -5.15625 C 0.8125 -5.15625 0.875 -5.09375 0.875 -4.703125 L 0.875 0 L 1.125 0 L 1.40625 -0.484375 C 1.59375 -0.21875 1.96875 0.078125 2.515625 0.078125 C 3.515625 0.078125 4.390625 -0.703125 4.390625 -1.71875 Z M 3.6875 -1.71875 C 3.6875 -1.53125 3.6875 -0.96875 3.40625 -0.609375 C 3.109375 -0.25 2.734375 -0.140625 2.484375 -0.140625 C 2.09375 -0.140625 1.78125 -0.34375 1.578125 -0.65625 C 1.484375 -0.796875 1.484375 -0.8125 1.484375 -0.953125 L 1.484375 -2.5 C 1.484375 -2.65625 1.484375 -2.671875 1.59375 -2.8125 C 1.828125 -3.109375 2.203125 -3.265625 2.5625 -3.265625 C 2.96875 -3.265625 3.28125 -3.03125 3.4375 -2.78125 C 3.578125 -2.578125 3.6875 -2.296875 3.6875 -1.71875 Z M 3.6875 -1.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-16">
<path style="stroke:none;" d="M 4.453125 0 L 4.453125 -0.265625 C 3.90625 -0.265625 3.84375 -0.3125 3.84375 -0.703125 L 3.84375 -3.5 L 2.640625 -3.40625 L 2.640625 -3.140625 C 3.1875 -3.140625 3.25 -3.09375 3.25 -2.703125 L 3.25 -1.328125 C 3.25 -0.640625 2.84375 -0.140625 2.234375 -0.140625 C 1.5625 -0.140625 1.53125 -0.484375 1.53125 -0.875 L 1.53125 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.921875 -3.140625 0.921875 -3.125 0.921875 -2.421875 L 0.921875 -1.234375 C 0.921875 -0.65625 0.921875 0.078125 2.1875 0.078125 C 2.9375 0.078125 3.21875 -0.484375 3.265625 -0.5625 L 3.265625 0.078125 Z M 4.453125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-17">
<path style="stroke:none;" d="M 2.109375 0 L 2.109375 -0.265625 C 1.609375 -0.265625 1.515625 -0.265625 1.515625 -0.625 L 1.515625 -5.5 L 0.328125 -5.40625 L 0.328125 -5.15625 C 0.875 -5.15625 0.9375 -5.09375 0.9375 -4.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.21875 -0.03125 C 1.375 -0.03125 1.8125 -0.03125 2.109375 0 Z M 2.109375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-18">
<path style="stroke:none;" d="M 6.796875 0 L 6.796875 -0.265625 C 6.28125 -0.265625 6.1875 -0.265625 6.1875 -0.625 L 6.1875 -2.40625 C 6.1875 -3.046875 5.90625 -3.5 5.046875 -3.5 C 4.3125 -3.5 3.953125 -3 3.828125 -2.765625 C 3.6875 -3.328125 3.234375 -3.5 2.71875 -3.5 C 1.953125 -3.5 1.578125 -2.953125 1.484375 -2.734375 L 1.46875 -2.734375 L 1.46875 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.859375 -3.140625 0.921875 -3.09375 0.921875 -2.703125 L 0.921875 -0.625 C 0.921875 -0.265625 0.828125 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.671875 -0.03125 1.015625 -0.03125 1.234375 -0.03125 C 1.453125 -0.03125 1.796875 -0.03125 2.125 0 L 2.125 -0.265625 C 1.625 -0.265625 1.53125 -0.265625 1.53125 -0.625 L 1.53125 -2.046875 C 1.53125 -2.890625 2.15625 -3.265625 2.65625 -3.265625 C 3.171875 -3.265625 3.25 -2.875 3.25 -2.4375 L 3.25 -0.625 C 3.25 -0.265625 3.15625 -0.265625 2.65625 -0.265625 L 2.65625 0 C 3 -0.03125 3.34375 -0.03125 3.5625 -0.03125 C 3.78125 -0.03125 4.125 -0.03125 4.453125 0 L 4.453125 -0.265625 C 3.953125 -0.265625 3.859375 -0.265625 3.859375 -0.625 L 3.859375 -2.046875 C 3.859375 -2.890625 4.484375 -3.265625 4.984375 -3.265625 C 5.5 -3.265625 5.578125 -2.875 5.578125 -2.4375 L 5.578125 -0.625 C 5.578125 -0.265625 5.484375 -0.265625 4.984375 -0.265625 L 4.984375 0 C 5.328125 -0.03125 5.671875 -0.03125 5.890625 -0.03125 C 6.109375 -0.03125 6.453125 -0.03125 6.796875 0 Z M 6.796875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-19">
<path style="stroke:none;" d="M 4.078125 -3.171875 C 4.078125 -3.3125 3.984375 -3.578125 3.625 -3.578125 C 3.5 -3.578125 3.109375 -3.546875 2.75 -3.21875 C 2.546875 -3.359375 2.234375 -3.5 1.875 -3.5 C 1.078125 -3.5 0.5 -2.953125 0.5 -2.328125 C 0.5 -1.953125 0.71875 -1.671875 0.875 -1.515625 C 0.703125 -1.328125 0.640625 -1.0625 0.640625 -0.875 C 0.640625 -0.546875 0.796875 -0.3125 0.96875 -0.171875 C 0.5625 -0.0625 0.234375 0.25 0.234375 0.609375 C 0.234375 1.1875 1.046875 1.625 2.09375 1.625 C 3.09375 1.625 3.96875 1.21875 3.96875 0.59375 C 3.96875 0.171875 3.703125 -0.171875 3.453125 -0.296875 C 2.984375 -0.546875 2.59375 -0.546875 1.8125 -0.546875 L 1.375 -0.546875 C 1.125 -0.578125 0.921875 -0.78125 0.921875 -1.0625 C 0.921875 -1.265625 0.96875 -1.328125 1.03125 -1.40625 C 1.359375 -1.203125 1.671875 -1.171875 1.859375 -1.171875 C 2.640625 -1.171875 3.21875 -1.71875 3.21875 -2.328125 C 3.21875 -2.625 3.09375 -2.890625 2.90625 -3.09375 C 3.015625 -3.1875 3.265625 -3.34375 3.65625 -3.359375 C 3.625 -3.328125 3.59375 -3.296875 3.59375 -3.171875 C 3.59375 -3.03125 3.6875 -2.921875 3.828125 -2.921875 C 3.9375 -2.921875 4.078125 -3 4.078125 -3.171875 Z M 2.59375 -2.328125 C 2.59375 -2.03125 2.5625 -1.828125 2.4375 -1.671875 C 2.265625 -1.453125 2.015625 -1.390625 1.875 -1.390625 C 1.140625 -1.390625 1.140625 -2.15625 1.140625 -2.328125 C 1.140625 -2.625 1.171875 -2.828125 1.296875 -2.984375 C 1.421875 -3.171875 1.640625 -3.265625 1.859375 -3.265625 C 2.59375 -3.265625 2.59375 -2.5 2.59375 -2.328125 Z M 3.5 0.609375 C 3.5 1.03125 2.890625 1.390625 2.09375 1.390625 C 1.3125 1.390625 0.703125 1.03125 0.703125 0.609375 C 0.703125 0.4375 0.828125 -0.03125 1.484375 -0.03125 L 2.234375 -0.03125 C 2.453125 -0.03125 3.5 -0.03125 3.5 0.609375 Z M 3.5 0.609375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-20">
<path style="stroke:none;" d="M 4.453125 0 L 4.453125 -0.265625 C 3.9375 -0.265625 3.84375 -0.265625 3.84375 -0.625 L 3.84375 -2.40625 C 3.84375 -3.0625 3.546875 -3.5 2.71875 -3.5 C 1.9375 -3.5 1.578125 -2.921875 1.484375 -2.734375 L 1.46875 -2.734375 L 1.46875 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.859375 -3.140625 0.921875 -3.09375 0.921875 -2.703125 L 0.921875 -0.625 C 0.921875 -0.265625 0.828125 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.671875 -0.03125 1.015625 -0.03125 1.234375 -0.03125 C 1.453125 -0.03125 1.796875 -0.03125 2.125 0 L 2.125 -0.265625 C 1.625 -0.265625 1.53125 -0.265625 1.53125 -0.625 L 1.53125 -2.046875 C 1.53125 -2.890625 2.15625 -3.265625 2.640625 -3.265625 C 3.125 -3.265625 3.25 -2.9375 3.25 -2.4375 L 3.25 -0.625 C 3.25 -0.265625 3.15625 -0.265625 2.640625 -0.265625 L 2.640625 0 C 2.984375 -0.03125 3.328125 -0.03125 3.546875 -0.03125 C 3.78125 -0.03125 4.109375 -0.03125 4.453125 0 Z M 4.453125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph5-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph5-1">
<path style="stroke:none;" d="M 4.390625 -7.234375 C 4.390625 -7.34375 4.3125 -7.4375 4.203125 -7.4375 C 4.125 -7.4375 4.0625 -7.40625 4.03125 -7.34375 L 0.59375 2.09375 C 0.546875 2.234375 0.546875 2.28125 0.546875 2.28125 C 0.546875 2.390625 0.640625 2.484375 0.75 2.484375 C 0.875 2.484375 0.90625 2.40625 0.953125 2.234375 L 4.34375 -7.046875 C 4.390625 -7.1875 4.390625 -7.234375 4.390625 -7.234375 Z M 4.390625 -7.234375 "/>
</symbol>
<symbol overflow="visible" id="glyph5-2">
<path style="stroke:none;" d="M 5.75 -2.375 C 5.859375 -2.796875 5.984375 -3.28125 5.984375 -3.6875 C 5.984375 -3.9375 5.9375 -4.15625 5.78125 -4.296875 C 5.71875 -4.34375 5.640625 -4.375 5.5625 -4.375 C 5.4375 -4.375 5.3125 -4.3125 5.203125 -4.21875 C 5.125 -4.125 5.078125 -4.015625 5.078125 -3.90625 C 5.078125 -3.796875 5.109375 -3.71875 5.1875 -3.65625 C 5.421875 -3.4375 5.5625 -3.125 5.5625 -2.78125 C 5.5625 -2.671875 5.546875 -2.53125 5.515625 -2.421875 C 5.296875 -1.515625 4.71875 -0.609375 3.9375 -0.609375 C 3.375 -0.609375 3.046875 -0.984375 2.96875 -1.5 C 3.09375 -1.765625 3.1875 -2.078125 3.265625 -2.375 C 3.28125 -2.453125 3.296875 -2.546875 3.296875 -2.625 C 3.296875 -2.78125 3.25 -2.875 3.109375 -2.875 C 2.921875 -2.875 2.828125 -2.640625 2.78125 -2.421875 C 2.6875 -2.109375 2.65625 -1.8125 2.640625 -1.53125 C 2.3125 -0.984375 1.84375 -0.609375 1.296875 -0.609375 C 0.6875 -0.609375 0.4375 -1.09375 0.4375 -1.71875 C 0.4375 -1.921875 0.46875 -2.15625 0.515625 -2.375 C 0.65625 -2.96875 1.015625 -3.515625 1.390625 -4.046875 C 1.421875 -4.078125 1.453125 -4.125 1.453125 -4.171875 C 1.453125 -4.234375 1.40625 -4.28125 1.359375 -4.3125 C 1.328125 -4.328125 1.296875 -4.328125 1.265625 -4.328125 C 1.203125 -4.328125 1.140625 -4.296875 1.09375 -4.234375 C 0.6875 -3.671875 0.4375 -3.046875 0.28125 -2.421875 C 0.171875 -2.046875 0.125 -1.65625 0.125 -1.3125 C 0.125 -0.5 0.421875 0.109375 1.171875 0.109375 C 1.796875 0.109375 2.3125 -0.328125 2.6875 -0.9375 C 2.796875 -0.328125 3.140625 0.109375 3.796875 0.109375 C 4.828125 0.109375 5.453125 -1.171875 5.75 -2.375 Z M 5.75 -2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph6-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph6-1">
<path style="stroke:none;" d="M 3.4375 -0.71875 C 3.4375 -0.75 3.375 -0.828125 3.3125 -0.828125 C 3.28125 -0.828125 3.265625 -0.8125 3.203125 -0.765625 C 2.65625 -0.125 1.859375 -0.125 1.734375 -0.125 C 1.234375 -0.125 1 -0.46875 1 -0.890625 C 1 -1.09375 1.109375 -1.859375 1.46875 -2.328125 C 1.734375 -2.671875 2.09375 -2.859375 2.4375 -2.859375 C 2.53125 -2.859375 2.859375 -2.84375 3.03125 -2.65625 C 2.78125 -2.609375 2.6875 -2.421875 2.6875 -2.265625 C 2.6875 -2.078125 2.828125 -2.015625 2.953125 -2.015625 C 3.109375 -2.015625 3.34375 -2.125 3.34375 -2.453125 C 3.34375 -2.921875 2.8125 -3.0625 2.4375 -3.0625 C 1.390625 -3.0625 0.4375 -2.109375 0.4375 -1.140625 C 0.4375 -0.546875 0.84375 0.0625 1.71875 0.0625 C 2.890625 0.0625 3.4375 -0.625 3.4375 -0.71875 Z M 3.4375 -0.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph7-1">
<path style="stroke:none;" d="M 0 -8.703125 L -0.3125 -8.703125 L -0.3125 -8.46875 C -0.3125 -7.703125 -0.421875 -7.6875 -0.765625 -7.6875 L -6 -7.6875 C -6.34375 -7.6875 -6.453125 -7.703125 -6.453125 -8.46875 L -6.453125 -8.703125 L -6.765625 -8.703125 L -6.765625 -7.03125 C -6.765625 -6.78125 -6.75 -6.78125 -6.578125 -6.703125 L -1 -4.53125 L -6.546875 -2.390625 C -6.765625 -2.296875 -6.765625 -2.265625 -6.765625 -2.046875 L -6.765625 -0.359375 L -6.453125 -0.359375 L -6.453125 -0.609375 C -6.453125 -1.359375 -6.34375 -1.390625 -6 -1.390625 L -1.046875 -1.390625 C -0.765625 -1.390625 -0.3125 -1.390625 -0.3125 -0.359375 L 0 -0.359375 L -0.03125 -1.53125 L 0 -2.6875 L -0.3125 -2.6875 C -0.3125 -1.671875 -0.765625 -1.671875 -1.046875 -1.671875 L -6.375 -1.671875 L -0.21875 -4.0625 C -0.09375 -4.109375 0 -4.15625 0 -4.265625 C 0 -4.375 -0.078125 -4.390625 -0.1875 -4.4375 L -6.453125 -6.875 L -6.453125 -6.890625 L -0.765625 -6.890625 C -0.421875 -6.890625 -0.3125 -6.859375 -0.3125 -6.109375 L -0.3125 -5.859375 L 0 -5.859375 C -0.03125 -6.234375 -0.03125 -6.90625 -0.03125 -7.296875 C -0.03125 -7.671875 -0.03125 -8.34375 0 -8.703125 Z M 0 -8.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-2">
<symbol overflow="visible" id="glyph5-2">
<path style="stroke:none;" d="M -0.875 -4.78125 L -1.4375 -4.78125 L -1.4375 -4.53125 L -0.875 -4.53125 C -0.3125 -4.53125 -0.25 -4.296875 -0.25 -4.1875 C -0.25 -3.859375 -0.6875 -3.8125 -0.75 -3.8125 L -2.71875 -3.8125 C -3.140625 -3.8125 -3.53125 -3.8125 -3.890625 -3.453125 C -4.28125 -3.078125 -4.4375 -2.578125 -4.4375 -2.09375 C -4.4375 -1.28125 -3.96875 -0.609375 -3.3125 -0.609375 C -3.015625 -0.609375 -2.859375 -0.796875 -2.859375 -1.0625 C -2.859375 -1.34375 -3.046875 -1.515625 -3.3125 -1.515625 C -3.421875 -1.515625 -3.75 -1.46875 -3.765625 -1.015625 C -4.109375 -1.28125 -4.21875 -1.765625 -4.21875 -2.078125 C -4.21875 -2.5625 -3.828125 -3.125 -2.953125 -3.125 L -2.578125 -3.125 C -2.5625 -2.625 -2.53125 -1.9375 -2.234375 -1.3125 C -1.890625 -0.5625 -1.375 -0.3125 -0.9375 -0.3125 C -0.140625 -0.3125 0.109375 -1.28125 0.109375 -1.90625 C 0.109375 -2.5625 -0.28125 -3.015625 -0.75 -3.203125 C -0.359375 -3.234375 0.0625 -3.5 0.0625 -3.96875 C 0.0625 -4.1875 -0.078125 -4.78125 -0.875 -4.78125 Z M -1.390625 -3.125 C -0.453125 -3.125 -0.109375 -2.421875 -0.109375 -1.96875 C -0.109375 -1.484375 -0.453125 -1.078125 -0.953125 -1.078125 C -1.5 -1.078125 -2.3125 -1.5 -2.375 -3.125 Z M -1.390625 -3.125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-3">
<symbol overflow="visible" id="glyph5-3">
<path style="stroke:none;" d="M -4 -4.796875 C -4.171875 -4.796875 -4.484375 -4.6875 -4.484375 -4.296875 C -4.484375 -4.09375 -4.421875 -3.671875 -4.015625 -3.25 C -4.34375 -2.828125 -4.375 -2.421875 -4.375 -2.203125 C -4.375 -1.28125 -3.6875 -0.59375 -2.9375 -0.59375 C -2.5 -0.59375 -2.125 -0.8125 -1.90625 -1.0625 C -1.765625 -0.9375 -1.4375 -0.75 -1.09375 -0.75 C -0.78125 -0.75 -0.40625 -0.875 -0.203125 -1.1875 C -0.046875 -0.59375 0.390625 -0.28125 0.78125 -0.28125 C 1.5 -0.28125 2.046875 -1.265625 2.046875 -2.46875 C 2.046875 -3.640625 1.53125 -4.671875 0.765625 -4.671875 C 0.421875 -4.671875 -0.09375 -4.53125 -0.359375 -4.015625 C -0.640625 -3.5 -0.640625 -2.921875 -0.640625 -2.3125 C -0.640625 -2.078125 -0.640625 -1.640625 -0.65625 -1.578125 C -0.6875 -1.265625 -1 -1.046875 -1.3125 -1.046875 C -1.359375 -1.046875 -1.578125 -1.046875 -1.78125 -1.21875 C -1.5 -1.609375 -1.46875 -2.015625 -1.46875 -2.203125 C -1.46875 -3.125 -2.15625 -3.796875 -2.921875 -3.796875 C -3.28125 -3.796875 -3.65625 -3.640625 -3.890625 -3.390625 C -4.21875 -3.75 -4.265625 -4.109375 -4.265625 -4.296875 C -4.265625 -4.296875 -4.265625 -4.359375 -4.265625 -4.390625 C -4.21875 -4.28125 -4.109375 -4.234375 -4 -4.234375 C -3.828125 -4.234375 -3.703125 -4.359375 -3.703125 -4.515625 C -3.703125 -4.609375 -3.78125 -4.796875 -4 -4.796875 Z M -2.9375 -3.0625 C -2.671875 -3.0625 -2.34375 -3.046875 -2.09375 -2.90625 C -1.984375 -2.828125 -1.703125 -2.59375 -1.703125 -2.203125 C -1.703125 -1.34375 -2.6875 -1.34375 -2.921875 -1.34375 C -3.1875 -1.34375 -3.5 -1.34375 -3.75 -1.5 C -3.875 -1.578125 -4.15625 -1.796875 -4.15625 -2.203125 C -4.15625 -3.0625 -3.15625 -3.0625 -2.9375 -3.0625 Z M 0.78125 -4.15625 C 1.3125 -4.15625 1.8125 -3.453125 1.8125 -2.484375 C 1.8125 -1.46875 1.3125 -0.796875 0.78125 -0.796875 C 0.328125 -0.796875 -0.046875 -1.171875 -0.0625 -1.609375 L -0.0625 -2.1875 C -0.0625 -3.046875 -0.0625 -4.15625 0.78125 -4.15625 Z M 0.78125 -4.15625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-4">
<symbol overflow="visible" id="glyph5-4">
<path style="stroke:none;" d="M 0 -5.296875 L -0.3125 -5.296875 C -0.3125 -4.78125 -0.3125 -4.53125 -0.609375 -4.53125 L -2.5 -4.53125 C -3.34375 -4.53125 -3.65625 -4.53125 -4.015625 -4.21875 C -4.1875 -4.078125 -4.375 -3.75 -4.375 -3.1875 C -4.375 -2.453125 -3.953125 -1.984375 -3.34375 -1.71875 L -4.375 -1.71875 L -4.265625 -0.3125 L -3.96875 -0.3125 C -3.96875 -1.015625 -3.890625 -1.09375 -3.40625 -1.09375 L -0.75 -1.09375 C -0.3125 -1.09375 -0.3125 -0.984375 -0.3125 -0.3125 L 0 -0.3125 L -0.03125 -1.4375 L 0 -2.546875 L -0.3125 -2.546875 C -0.3125 -1.875 -0.3125 -1.765625 -0.75 -1.765625 L -2.578125 -1.765625 C -3.609375 -1.765625 -4.15625 -2.484375 -4.15625 -3.109375 C -4.15625 -3.734375 -3.625 -3.84375 -3.0625 -3.84375 L -0.75 -3.84375 C -0.3125 -3.84375 -0.3125 -3.734375 -0.3125 -3.078125 L 0 -3.078125 L -0.03125 -4.1875 Z M 0 -5.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-5">
<symbol overflow="visible" id="glyph5-5">
<path style="stroke:none;" d="M 0 -2.453125 L -0.3125 -2.453125 C -0.3125 -1.796875 -0.359375 -1.75 -0.75 -1.75 L -4.375 -1.75 L -4.265625 -0.359375 L -3.96875 -0.359375 C -3.96875 -1.015625 -3.90625 -1.09375 -3.421875 -1.09375 L -0.75 -1.09375 C -0.3125 -1.09375 -0.3125 -0.984375 -0.3125 -0.328125 L 0 -0.328125 L -0.03125 -1.421875 C -0.03125 -1.765625 -0.015625 -2.109375 0 -2.453125 Z M -5.984375 -1.90625 C -6.25 -1.90625 -6.515625 -1.671875 -6.515625 -1.375 C -6.515625 -1.046875 -6.234375 -0.84375 -5.984375 -0.84375 C -5.71875 -0.84375 -5.453125 -1.0625 -5.453125 -1.359375 C -5.453125 -1.703125 -5.734375 -1.90625 -5.984375 -1.90625 Z M -5.984375 -1.90625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-6">
<symbol overflow="visible" id="glyph5-6">
<path style="stroke:none;" d="M -1.234375 -3.28125 L -1.796875 -3.28125 L -1.796875 -3.046875 L -1.25 -3.046875 C -0.515625 -3.046875 -0.140625 -2.75 -0.140625 -2.375 C -0.140625 -1.71875 -1.046875 -1.71875 -1.203125 -1.71875 L -3.96875 -1.71875 L -3.96875 -3.125 L -4.265625 -3.125 L -4.265625 -1.71875 L -6.09375 -1.71875 L -6.09375 -1.46875 C -5.28125 -1.453125 -4.21875 -1.15625 -4.1875 -0.1875 L -3.96875 -0.1875 L -3.96875 -1.03125 L -1.234375 -1.03125 C -0.015625 -1.03125 0.109375 -1.953125 0.109375 -2.3125 C 0.109375 -3.015625 -0.59375 -3.28125 -1.234375 -3.28125 Z M -1.234375 -3.28125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-7">
<symbol overflow="visible" id="glyph5-7">
<path style="stroke:none;" d="M 0 -5.296875 L -0.3125 -5.296875 C -0.3125 -4.609375 -0.375 -4.53125 -0.859375 -4.53125 L -4.375 -4.53125 L -4.265625 -3.078125 L -3.96875 -3.078125 C -3.96875 -3.765625 -3.890625 -3.84375 -3.40625 -3.84375 L -1.640625 -3.84375 C -0.78125 -3.84375 -0.109375 -3.375 -0.109375 -2.640625 C -0.109375 -1.8125 -0.578125 -1.765625 -1.09375 -1.765625 L -4.375 -1.765625 L -4.265625 -0.3125 L -3.96875 -0.3125 C -3.96875 -1.09375 -3.9375 -1.09375 -3.046875 -1.09375 L -1.5625 -1.09375 C -0.796875 -1.09375 0.109375 -1.09375 0.109375 -2.59375 C 0.109375 -3.15625 -0.171875 -3.59375 -0.78125 -3.875 L 0.109375 -3.875 Z M 0 -5.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-8">
<symbol overflow="visible" id="glyph5-8">
<path style="stroke:none;" d="M 0 -5.21875 L -0.3125 -5.21875 C -0.3125 -4.53125 -0.375 -4.453125 -0.859375 -4.453125 L -6.875 -4.453125 L -6.765625 -3.015625 L -6.453125 -3.015625 C -6.453125 -3.71875 -6.390625 -3.796875 -5.90625 -3.796875 L -3.765625 -3.796875 C -4.125 -3.5 -4.375 -3.078125 -4.375 -2.546875 C -4.375 -1.375 -3.40625 -0.34375 -2.125 -0.34375 C -0.875 -0.34375 0.109375 -1.3125 0.109375 -2.4375 C 0.109375 -3.078125 -0.234375 -3.515625 -0.546875 -3.765625 L 0.109375 -3.765625 Z M -1.171875 -3.765625 C -0.984375 -3.765625 -0.96875 -3.765625 -0.796875 -3.65625 C -0.328125 -3.359375 -0.109375 -2.90625 -0.109375 -2.484375 C -0.109375 -2.046875 -0.359375 -1.6875 -0.75 -1.453125 C -1.15625 -1.1875 -1.71875 -1.15625 -2.125 -1.15625 C -2.484375 -1.15625 -3.078125 -1.171875 -3.53125 -1.46875 C -3.828125 -1.671875 -4.15625 -2.046875 -4.15625 -2.578125 C -4.15625 -2.9375 -4.015625 -3.34375 -3.5625 -3.65625 C -3.390625 -3.765625 -3.375 -3.765625 -3.203125 -3.765625 Z M -1.171875 -3.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-9">
<symbol overflow="visible" id="glyph5-9">
<path style="stroke:none;" d="M -1.171875 -4.109375 C -1.28125 -4.109375 -1.296875 -4.03125 -1.296875 -3.984375 C -1.296875 -3.890625 -1.234375 -3.875 -1.15625 -3.859375 C -0.140625 -3.5 -0.140625 -2.609375 -0.140625 -2.515625 C -0.140625 -2.015625 -0.4375 -1.625 -0.796875 -1.390625 C -1.28125 -1.09375 -1.9375 -1.09375 -2.28125 -1.09375 L -2.28125 -3.859375 C -2.28125 -4.078125 -2.28125 -4.109375 -2.5 -4.109375 C -3.484375 -4.109375 -4.4375 -3.578125 -4.4375 -2.34375 C -4.4375 -1.1875 -3.421875 -0.28125 -2.171875 -0.28125 C -0.859375 -0.28125 0.109375 -1.3125 0.109375 -2.453125 C 0.109375 -3.671875 -0.984375 -4.109375 -1.171875 -4.109375 Z M -2.5 -3.453125 L -2.5 -1.109375 C -3.96875 -1.171875 -4.21875 -2 -4.21875 -2.34375 C -4.21875 -3.359375 -2.875 -3.453125 -2.5 -3.453125 Z M -2.5 -3.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-10">
<symbol overflow="visible" id="glyph5-10">
<path style="stroke:none;" d="M 2.484375 -2.53125 L 2.078125 -2.53125 L 2.078125 -1.5625 L -7.03125 -1.5625 L -7.03125 -2.53125 L -7.4375 -2.53125 L -7.4375 -1.171875 L 2.484375 -1.171875 Z M 2.484375 -2.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-11">
<symbol overflow="visible" id="glyph5-11">
<path style="stroke:none;" d="M -1.8125 -6.453125 C -2.671875 -6.453125 -3.421875 -5.640625 -3.53125 -4.53125 C -3.71875 -5.5 -4.359375 -6.1875 -5.09375 -6.1875 C -5.953125 -6.1875 -6.765625 -5.265625 -6.765625 -3.984375 L -6.765625 -0.359375 L -6.453125 -0.359375 L -6.453125 -0.59375 C -6.453125 -1.359375 -6.34375 -1.375 -6 -1.375 L -0.765625 -1.375 C -0.421875 -1.375 -0.3125 -1.359375 -0.3125 -0.59375 L -0.3125 -0.359375 L 0 -0.359375 L 0 -4.234375 C 0 -5.5625 -0.875 -6.453125 -1.8125 -6.453125 Z M -5.09375 -5.21875 C -4.453125 -5.21875 -3.625 -4.734375 -3.625 -3.640625 L -3.625 -2.203125 L -6.0625 -2.203125 C -6.390625 -2.203125 -6.453125 -2.21875 -6.453125 -2.6875 L -6.453125 -3.90625 C -6.453125 -4.875 -5.609375 -5.21875 -5.09375 -5.21875 Z M -1.828125 -5.453125 C -1.125 -5.453125 -0.3125 -4.9375 -0.3125 -3.921875 L -0.3125 -2.6875 C -0.3125 -2.21875 -0.375 -2.203125 -0.703125 -2.203125 L -3.40625 -2.203125 L -3.40625 -4.0625 C -3.40625 -5.046875 -2.484375 -5.453125 -1.828125 -5.453125 Z M -1.828125 -5.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-12">
<symbol overflow="visible" id="glyph5-12">
<path style="stroke:none;" d="M 2.484375 -1.578125 L -7.4375 -1.578125 L -7.4375 -0.21875 L -7.03125 -0.21875 L -7.03125 -1.171875 L 2.078125 -1.171875 L 2.078125 -0.21875 L 2.484375 -0.21875 Z M 2.484375 -1.578125 "/>
</symbol>
</g>
@ -341,164 +308,98 @@
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.051258 0.000731316 L 1.60851 1.680992 L 3.08686 -0.000794462 L 1.609362 -1.68211 Z M 6.051258 0.000731316 " transform="matrix(-0.765269,-0.635535,-0.635535,0.765269,75.912554,105.673354)"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -37.797173 9.4504 L 11.375921 9.4504 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 11.874602 2.280387 L 108.893591 2.280387 L 108.893591 16.616486 L 11.874602 16.616486 Z M 11.874602 2.280387 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 11.874602 3.383768 L 83.036782 3.383768 L 83.036782 15.517031 L 11.874602 15.517031 Z M 11.874602 3.383768 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="134.228952" y="113.325963"/>
<use xlink:href="#glyph4-1" x="134.228952" y="113.056369"/>
<use xlink:href="#glyph4-2" x="138.909293" y="113.056369"/>
<use xlink:href="#glyph4-3" x="145.929407" y="113.056369"/>
<use xlink:href="#glyph4-4" x="150.141951" y="113.056369"/>
<use xlink:href="#glyph4-4" x="152.481725" y="113.056369"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="141.937748" y="113.325963"/>
<use xlink:href="#glyph0-2" x="146.893204" y="113.325963"/>
<use xlink:href="#glyph4-5" x="157.628275" y="113.056369"/>
<use xlink:href="#glyph4-6" x="160.951214" y="113.056369"/>
<use xlink:href="#glyph4-3" x="164.227373" y="113.056369"/>
<use xlink:href="#glyph4-6" x="168.439917" y="113.056369"/>
<use xlink:href="#glyph4-7" x="171.716076" y="113.056369"/>
<use xlink:href="#glyph4-8" x="174.05585" y="113.056369"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="153.503781" y="113.325963"/>
<use xlink:href="#glyph0-8" x="159.010283" y="113.325963"/>
<use xlink:href="#glyph4-9" x="180.606582" y="113.056369"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="168.778762" y="113.325963"/>
<use xlink:href="#glyph4-10" x="184.358466" y="113.056369"/>
<use xlink:href="#glyph4-10" x="187.64176" y="113.056369"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="181.993841" y="113.325963"/>
<use xlink:href="#glyph4-2" x="186.674181" y="113.325963"/>
<use xlink:href="#glyph4-3" x="189.95034" y="113.325963"/>
<use xlink:href="#glyph4-2" x="194.162884" y="113.325963"/>
<use xlink:href="#glyph4-4" x="197.439043" y="113.325963"/>
<use xlink:href="#glyph4-5" x="199.778817" y="113.325963"/>
<use xlink:href="#glyph4-11" x="190.917126" y="113.056369"/>
<use xlink:href="#glyph4-10" x="195.129671" y="113.056369"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 65.09997 72.763261 L 18.031546 72.763261 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053054 0.00174142 L 1.608117 1.682336 L 3.088454 0.00174142 L 1.608117 -1.68278 Z M 6.053054 0.00174142 " transform="matrix(0.994812,0,0,-0.994812,181.05257,47.341576)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -10.982268 65.919158 L 17.532865 65.919158 L 17.532865 79.603438 L -10.982268 79.603438 Z M -10.982268 65.919158 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="111.489547" y="49.302867"/>
<use xlink:href="#glyph4-12" x="116.169887" y="49.302867"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-6" x="206.329549" y="113.325963"/>
<use xlink:href="#glyph4-7" x="210.073504" y="113.325963"/>
<use xlink:href="#glyph4-7" x="213.356799" y="113.325963"/>
<use xlink:href="#glyph4-8" x="216.640094" y="113.325963"/>
<use xlink:href="#glyph4-7" x="220.852638" y="113.325963"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 4.63391 37.796688 L 37.794237 37.796688 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054074 0.00150232 L 1.609137 1.682097 L 3.089474 0.00150232 L 1.609137 -1.683019 Z M 6.054074 0.00150232 " transform="matrix(-0.994812,0,0,0.994812,126.546101,82.123505)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 38.292918 29.495808 L 144.449159 29.495808 L 144.449159 46.101494 L 38.292918 46.101494 Z M 38.292918 29.495808 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="160.510882" y="84.60177"/>
<use xlink:href="#glyph0-2" x="165.466338" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="172.076915" y="84.60177"/>
<use xlink:href="#glyph0-8" x="177.583417" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-1" x="184.599253" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="189.555404" y="84.60177"/>
<use xlink:href="#glyph0-9" x="195.061906" y="84.60177"/>
<use xlink:href="#glyph0-10" x="199.467306" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="206.624383" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-9" x="219.838467" y="84.60177"/>
<use xlink:href="#glyph4-6" x="226.035577" y="84.60177"/>
<use xlink:href="#glyph4-10" x="229.779532" y="84.60177"/>
<use xlink:href="#glyph4-11" x="232.353997" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-2" x="238.43614" y="84.60177"/>
<use xlink:href="#glyph4-7" x="241.712299" y="84.60177"/>
<use xlink:href="#glyph4-3" x="244.995594" y="84.60177"/>
<use xlink:href="#glyph4-5" x="249.208138" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-12" x="252.722159" y="84.60177"/>
<use xlink:href="#glyph4-11" x="257.167808" y="84.60177"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 70.958491 75.598283 L 18.031546 75.598283 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.055225 0.00189289 L 1.610288 1.682487 L 3.086698 0.00189289 L 1.610288 -1.682628 Z M 6.055225 0.00189289 " transform="matrix(0.994812,0,0,-0.994812,186.878535,44.521414)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -37.294566 68.75418 L 17.532865 68.75418 L 17.532865 82.438459 L -37.294566 82.438459 Z M -37.294566 68.75418 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-2" x="85.315056" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph6-1" x="91.484879" y="47.96982"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="98.275463" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="111.489547" y="46.482576"/>
<use xlink:href="#glyph4-13" x="116.169887" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-6" x="121.08809" y="46.482576"/>
<use xlink:href="#glyph4-6" x="124.832045" y="46.482576"/>
<use xlink:href="#glyph4-14" x="128.576" y="46.482576"/>
<use xlink:href="#glyph4-9" x="121.08809" y="49.302867"/>
<use xlink:href="#glyph4-9" x="124.832045" y="49.302867"/>
<use xlink:href="#glyph4-13" x="128.576" y="49.302867"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 91.541846 85.406986 L 86.967331 94.497117 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054209 0.000157083 L 1.608354 1.683164 L 3.086317 -0.00117714 L 1.606932 -1.683367 Z M 6.054209 0.000157083 " transform="matrix(0.447098,0.888616,0.888616,-0.447098,208.910222,32.2413)"/>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 86.967331 94.497117 L 37.794237 94.497117 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -61.082045 86.969782 L 37.295556 86.969782 L 37.295556 102.024453 L -61.082045 102.024453 Z M -61.082045 86.969782 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -11.001901 88.430485 L 37.295556 88.430485 L 37.295556 100.559822 L -11.001901 100.559822 Z M -11.001901 88.430485 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="61.650476" y="28.365066"/>
<use xlink:href="#glyph4-14" x="111.472635" y="28.452609"/>
<use xlink:href="#glyph4-11" x="117.669745" y="28.452609"/>
<use xlink:href="#glyph4-15" x="121.882289" y="28.452609"/>
<use xlink:href="#glyph4-16" x="126.562629" y="28.452609"/>
<use xlink:href="#glyph4-5" x="131.24297" y="28.452609"/>
<use xlink:href="#glyph4-6" x="134.565908" y="28.452609"/>
<use xlink:href="#glyph4-17" x="137.842067" y="28.452609"/>
<use xlink:href="#glyph4-9" x="142.522407" y="28.452609"/>
<use xlink:href="#glyph4-5" x="146.266363" y="28.452609"/>
<use xlink:href="#glyph4-5" x="149.589301" y="28.452609"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="68.261054" y="28.365066"/>
<use xlink:href="#glyph0-8" x="73.767556" y="28.365066"/>
<use xlink:href="#glyph0-7" x="124.280835" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="83.537328" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-15" x="96.751412" y="28.365066"/>
<use xlink:href="#glyph4-8" x="104.465291" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-14" x="108.915698" y="28.365066"/>
<use xlink:href="#glyph4-16" x="113.596038" y="28.365066"/>
<use xlink:href="#glyph4-17" x="118.276378" y="28.365066"/>
<use xlink:href="#glyph4-6" x="120.616152" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-18" x="127.166884" y="28.365066"/>
<use xlink:href="#glyph4-3" x="134.186998" y="28.365066"/>
<use xlink:href="#glyph4-7" x="138.399542" y="28.365066"/>
<use xlink:href="#glyph4-19" x="141.682837" y="28.365066"/>
<use xlink:href="#glyph4-4" x="145.895381" y="28.365066"/>
<use xlink:href="#glyph4-20" x="148.235155" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-11" x="124.280835" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-12" x="129.928072" y="146.127889"/>
<use xlink:href="#glyph0-8" x="129.928072" y="146.127889"/>
<use xlink:href="#glyph0-9" x="133.810176" y="146.127889"/>
<use xlink:href="#glyph0-13" x="138.215576" y="146.127889"/>
<use xlink:href="#glyph0-14" x="143.446555" y="146.127889"/>
<use xlink:href="#glyph0-10" x="138.215576" y="146.127889"/>
<use xlink:href="#glyph0-11" x="143.446555" y="146.127889"/>
<use xlink:href="#glyph0-9" x="148.953057" y="146.127889"/>
<use xlink:href="#glyph0-15" x="153.358457" y="146.127889"/>
<use xlink:href="#glyph0-12" x="153.358457" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-10" x="158.855048" y="146.127889"/>
<use xlink:href="#glyph0-16" x="163.260448" y="146.127889"/>
<use xlink:href="#glyph0-13" x="158.855048" y="146.127889"/>
<use xlink:href="#glyph0-14" x="163.260448" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="171.801671" y="146.127889"/>
<use xlink:href="#glyph0-18" x="174.554922" y="146.127889"/>
<use xlink:href="#glyph0-19" x="181.988105" y="146.127889"/>
<use xlink:href="#glyph0-20" x="186.393505" y="146.127889"/>
<use xlink:href="#glyph0-15" x="171.801671" y="146.127889"/>
<use xlink:href="#glyph0-16" x="174.554922" y="146.127889"/>
<use xlink:href="#glyph0-17" x="181.988105" y="146.127889"/>
<use xlink:href="#glyph0-18" x="186.393505" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph7-1" x="11.703966" y="97.25478"/>
<use xlink:href="#glyph7-2" x="11.703966" y="88.169448"/>
<use xlink:href="#glyph7-3" x="11.703966" y="83.213993"/>
<use xlink:href="#glyph7-4" x="11.703966" y="78.258537"/>
<use xlink:href="#glyph7-5" x="11.703966" y="72.752035"/>
<use xlink:href="#glyph7-6" x="11.703966" y="69.998784"/>
<use xlink:href="#glyph7-7" x="11.703966" y="66.144431"/>
<use xlink:href="#glyph7-8" x="11.703966" y="60.637929"/>
<use xlink:href="#glyph7-9" x="11.703966" y="55.131427"/>
<use xlink:href="#glyph5-1" x="11.703966" y="97.25478"/>
<use xlink:href="#glyph5-2" x="11.703966" y="88.169448"/>
<use xlink:href="#glyph5-3" x="11.703966" y="83.213993"/>
<use xlink:href="#glyph5-4" x="11.703966" y="78.258537"/>
<use xlink:href="#glyph5-5" x="11.703966" y="72.752035"/>
<use xlink:href="#glyph5-6" x="11.703966" y="69.998784"/>
<use xlink:href="#glyph5-7" x="11.703966" y="66.144431"/>
<use xlink:href="#glyph5-8" x="11.703966" y="60.637929"/>
<use xlink:href="#glyph5-9" x="11.703966" y="55.131427"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph7-10" x="11.703966" y="47.425693"/>
<use xlink:href="#glyph7-8" x="11.703966" y="44.672442"/>
<use xlink:href="#glyph7-11" x="11.703966" y="39.16594"/>
<use xlink:href="#glyph7-12" x="11.703966" y="32.146042"/>
<use xlink:href="#glyph5-10" x="11.703966" y="47.425693"/>
<use xlink:href="#glyph5-8" x="11.703966" y="44.672442"/>
<use xlink:href="#glyph5-11" x="11.703966" y="39.16594"/>
<use xlink:href="#glyph5-12" x="11.703966" y="32.146042"/>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 80 KiB

After

Width:  |  Height:  |  Size: 68 KiB

BIN
figs/sensitivity_shape_effect.pdf Normal file
View File

Binary file not shown.

BIN
figs/sensitivity_shape_effect.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 88 KiB

BIN
figs/sensitivity_shape_effect_step.pdf Normal file
View File

Binary file not shown.

BIN
figs/sensitivity_shape_effect_step.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 30 KiB

635
index.html
View File

File diff suppressed because it is too large Load Diff

196
index.org
View File

@ -1121,59 +1121,159 @@ Similarly, to reduce the effect of measurement noise $n$ on the output $y$, we w
** Sensitivity Function
<<sec:sensitivity_transfer_functions>>
#+begin_src matlab
K1 = 14e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*10/sqrt(8)))/(1 + s/(2*pi*10*sqrt(8))); % Lead
Suppose we have developed a "/reference/" controller $K_r(s)$ and made three small changes to obtained three controllers $K_1(s)$, $K_2(s)$ and $K_3(s)$.
The obtained sensitivity functions are shown in Figure [[fig:sensitivity_shape_effect]] and the corresponding step responses are shown in Figure [[fig:sensitivity_shape_effect_step]].
K2 = 1e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*1/sqrt(8)))/(1 + s/(2*pi*1*sqrt(8))); % Lead
The comparison of the sensitivity functions shapes and their effect on the step response is summarized in Table [[tab:compare_sensitivity_shapes]].
K3 = 1e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*1/sqrt(2)))/(1 + s/(2*pi*1*sqrt(2))); % Lead
#+name: tab:compare_sensitivity_shapes
#+caption: Comparison of the sensitivity function shape and the corresponding step response for the three controller variations
| Controller | Sensitivity Function Shape | Change of the Step Response |
|------------+----------------------------------------------------+----------------------------------|
| $K_1(s)$ | Larger bandwidth $\omega_b$ | Faster rise time |
| $K_2(s)$ | Larger peak value $\Vert S\Vert_\infty$ | Large overshoot and oscillations |
| $K_3(s)$ | Larger low frequency gain $\vert S(j\cdot 0)\vert$ | Larger static error |
#+begin_src matlab :exports none
wc = 2*pi*1; L_w = 8; wi = 2*pi*0.02;
Kr = 1/((s + wi)^2) * ... % Double Integrator
(1 + s/(wc/sqrt(L_w)))/(1 + s/(wc*sqrt(L_w))); % Lead
Kr = Kr/abs(evalfr(Kr*G, j*wc));
wc = 2*pi*2; L_w = 8; wi = 2*pi*0.045;
K1 = 1/((s + wi)^2) * ... % Double Integrator
(1 + s/(wc/sqrt(L_w)))/(1 + s/(wc*sqrt(L_w))); % Lead
K1 = K1/abs(evalfr(K1*G, j*wc));
wc = 2*pi*1; L_w = 2; wi = 2*pi*0.03;
K2 = 1/((s + wi)^2) * ... % Double Integrator
(1 + s/(wc/sqrt(L_w)))/(1 + s/(wc*sqrt(L_w))); % Lead
K2 = K2/abs(evalfr(K2*G, j*wc));
wc = 2*pi*1; L_w = 8; wi = 2*pi*0.2;
K3 = 1/((s + wi)^2) * ... % Double Integrator
(1 + s/(wc/sqrt(L_w)))/(1 + s/(wc*sqrt(L_w))); % Lead
K3 = K3/abs(evalfr(K3*G, j*wc));
Sr = 1/(1 + Kr*G);
S1 = 1/(1 + K1*G);
S2 = 1/(1 + K2*G);
S3 = 1/(1 + K3*G);
Tr = Kr*G/(1 + Kr*G);
T1 = K1*G/(1 + K1*G);
T2 = K2*G/(1 + K2*G);
T3 = K3*G/(1 + K3*G);
bodeFig({S1, S2, S3})
#+end_src
#+begin_src matlab
freqs = logspace(-1, 2, 1000);
#+begin_src matlab :exports none
freqs = logspace(-2, 2, 1000);
figure;
tiledlayout(1, 2, 'TileSpacing', 'None', 'Padding', 'None');
ax1 = nexttile;
hold on;
plot(freqs, abs(squeeze(freqresp(S1, freqs, 'Hz'))), 'DisplayName', '$L(s)$');
plot(freqs, abs(squeeze(freqresp(S2, freqs, 'Hz'))), 'DisplayName', '$L_w(s)$');
plot(freqs, abs(squeeze(freqresp(S3, freqs, 'Hz'))), 'DisplayName', '$L_w(s) / \gamma$, $L_w(s) \cdot \gamma$');
plot(freqs, abs(squeeze(freqresp(S1, freqs, 'Hz'))), 'DisplayName', '$K_1(s)$');
plot(freqs, abs(squeeze(freqresp(S2, freqs, 'Hz'))), 'DisplayName', '$K_2(s)$');
plot(freqs, abs(squeeze(freqresp(S3, freqs, 'Hz'))), 'DisplayName', '$K_3(s)$');
plot(freqs, abs(squeeze(freqresp(Sr, freqs, 'Hz'))), 'k-', 'DisplayName', '$K_r(s)$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frquency [Hz]'); ylabel('Sensitivity Magnitude');
hold off;
legend('location', 'southeast');
ylim([1e-3, 3]);
#+end_src
ax2 = nexttile;
t = linspace(0, 1, 1000);
y1 = step(T1, t);
y2 = step(T2, t);
y3 = step(T3, t);
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/sensitivity_shape_effect.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:sensitivity_shape_effect
#+caption: Sensitivity function magnitude $|S(j\omega)|$ corresponding to the reference controller $K_r(s)$ and the three modified controllers $K_i(s)$
#+RESULTS:
[[file:figs/sensitivity_shape_effect.png]]
#+begin_src matlab :exports none
t = linspace(0, 5, 1000);
figure;
hold on;
plot(t, y1)
plot(t, y2)
plot(t, y3)
plot(t, step(T1, t), 'DisplayName', '$K_1(s)$')
plot(t, step(T2, t), 'DisplayName', '$K_2(s)$')
plot(t, step(T3, t), 'DisplayName', '$K_3(s)$')
plot(t, step(Tr, t), 'k-', 'DisplayName', '$K_r(s)$')
hold off
xlabel('Time [s]'); ylabel('Step Response');
legend('location', 'northeast');
ylim([0, 1.7])
#+end_src
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/sensitivity_shape_effect_step.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:sensitivity_shape_effect_step
#+caption: Step response (response from $r$ to $y$) for the different controllers
#+RESULTS:
[[file:figs/sensitivity_shape_effect_step.png]]
#+begin_src latex :file h-infinity-spec-S.pdf
\begin{tikzpicture}
\begin{axis}[%
width=8cm,
height=4cm,
at={(0,0)},
xmode=log,
xmin=0.01,
xmax=10000,
ymin=-80,
ymax=40,
ylabel={Magnitude [dB]},
xlabel={Frequency [Hz]},
ytick={40, 20, 0, -20, -40, -60, -80},
xminorgrids,
yminorgrids
]
\addplot [thick, color=black, forget plot]
table[row sep=crcr]{%
0.01 -60\\
0.1 -60\\
190 6\\
10000 6\\
};
\draw[<-] (0.05, -60) -- (0.1, -70);
\draw (0.1, -70) -- (2, -70) node[right, fill=white, draw]{\footnotesize{Small static error}};
\draw[<-] (70, -3) -- (3, -3) node[left, fill=white, draw]{\footnotesize{Speed}};
\draw[<-] (300, 6) -- (200, 20);
\draw (200, 20) -- (10, 20) node[left, fill=white, draw]{\footnotesize{Robustness}};
\end{axis}
\end{tikzpicture}
#+end_src
#+begin_definition
- Closed-Loop Bandwidth ::
The closed-loop bandwidth $\omega_b$ is the frequency where $|S(j\omega)|$ first crosses $1/\sqrt{2} = -3dB$ from below.
In general, a large bandwidth corresponds to a faster rise time.
#+end_definition
#+begin_important
From the simple analysis above, we can draw a first estimation of the wanted shape for the sensitivity function in Figure [[fig:h-infinity-spec-S]].
The wanted characteristics on the magnitude of the sensitivity function are then:
- A small magnitude at low frequency to make the static errors small
- A wanted minimum closed-loop bandwidth in order to have fast rise time and good rejection of perturbations
- A small peak value in order to limit large overshoot and oscillations.
This generally means higher robustness.
This will become clear in the next section about the *module margin*.
#+name: fig:h-infinity-spec-S
#+caption: Typical wanted shape of the Sensitivity transfer function
[[file:figs/h-infinity-spec-S.png]]
#+end_important
** Robustness: Module Margin
<<sec:module_margin>>
@ -1655,46 +1755,6 @@ The obtained shapes are shown in Figure [[fig:high_order_weight]].
** Sensitivity Function Shaping - Example
<<sec:sensitivity_shaping_example>>
#+begin_src latex :file h-infinity-spec-S.pdf
\begin{tikzpicture}
\begin{axis}[%
width=8cm,
height=4cm,
at={(0,0)},
xmode=log,
xmin=0.01,
xmax=10000,
ymin=-80,
ymax=40,
ylabel={Magnitude [dB]},
xlabel={Frequency [Hz]},
ytick={40, 20, 0, -20, -40, -60, -80},
xminorgrids,
yminorgrids
]
\addplot [thick, color=black, forget plot]
table[row sep=crcr]{%
0.01 -60\\
0.1 -60\\
190 6\\
10000 6\\
};
\draw[<-] (0.05, -60) -- (0.1, -70);
\draw (0.1, -70) -- (2, -70) node[right, fill=white, draw]{$\SI{-60}{\decibel} \rightarrow$ \footnotesize{Static error}};
\draw[<-] (1, -40) -- (10, -40) node[right, fill=white, draw]{$\SI{20}{\decibel/dec} \rightarrow$ \footnotesize{Ref. track.}};
\draw[<-] (100, 0) -- (3, 0) node[left, fill=white, draw]{$\omega_c \rightarrow$ \footnotesize{Speed}};
\draw[<-] (300, 6) -- (200, 20);
\draw (200, 20) -- (10, 20) node[left, fill=white, draw]{$\SI{6}{\decibel} \rightarrow$ \footnotesize{Module margin}};
\end{axis}
\end{tikzpicture}
#+end_src
#+name: fig:h-infinity-spec-S
#+caption: Typical wanted shape of the Sensitivity transfer function
#+RESULTS:
[[file:figs/h-infinity-spec-S.png]]
- Robustness: Module margin > 2 ($\Rightarrow \text{GM} > 2 \text{ and } \text{PM} > 29^o$)
- Bandwidth: