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No commits in common. "4c3090ac52a2df640ca8c72437391f2301f23004" and "a4d25b24cf21031221b344c2bdb6fecbb631b276" have entirely different histories.
4c3090ac52
...
a4d25b24cf
145
css/htmlize.css
Normal file
145
css/htmlize.css
Normal file
@ -0,0 +1,145 @@
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|||||||
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.org-bold { /* bold */ font-weight: bold; }
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||||||
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.org-bold-italic { /* bold-italic */ font-weight: bold; font-style: italic; }
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||||||
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.org-buffer-menu-buffer { /* buffer-menu-buffer */ font-weight: bold; }
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||||||
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.org-builtin { /* font-lock-builtin-face */ color: #7a378b; }
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||||||
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.org-button { /* button */ text-decoration: underline; }
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||||||
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.org-calendar-today { /* calendar-today */ text-decoration: underline; }
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||||||
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.org-change-log-acknowledgement { /* change-log-acknowledgement */ color: #b22222; }
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||||||
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.org-change-log-conditionals { /* change-log-conditionals */ color: #a0522d; }
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||||||
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.org-change-log-date { /* change-log-date */ color: #8b2252; }
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||||||
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.org-change-log-email { /* change-log-email */ color: #a0522d; }
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||||||
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.org-change-log-file { /* change-log-file */ color: #0000ff; }
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||||||
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.org-change-log-function { /* change-log-function */ color: #a0522d; }
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||||||
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.org-change-log-list { /* change-log-list */ color: #a020f0; }
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||||||
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.org-change-log-name { /* change-log-name */ color: #008b8b; }
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||||||
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.org-comint-highlight-input { /* comint-highlight-input */ font-weight: bold; }
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||||||
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.org-comint-highlight-prompt { /* comint-highlight-prompt */ color: #00008b; }
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||||||
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.org-comment { /* font-lock-comment-face */ color: #999988; font-style: italic; }
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||||||
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.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; }
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||||||
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.org-completions-annotations { /* completions-annotations */ font-style: italic; }
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||||||
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.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; }
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||||||
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.org-completions-first-difference { /* completions-first-difference */ font-weight: bold; }
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||||||
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.org-constant { /* font-lock-constant-face */ color: #008b8b; }
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||||||
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.org-diary { /* diary */ color: #ff0000; }
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||||||
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.org-diff-context { /* diff-context */ color: #7f7f7f; }
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||||||
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.org-diff-file-header { /* diff-file-header */ background-color: #b3b3b3; font-weight: bold; }
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||||||
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.org-diff-function { /* diff-function */ background-color: #cccccc; }
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||||||
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.org-diff-header { /* diff-header */ background-color: #cccccc; }
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||||||
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.org-diff-hunk-header { /* diff-hunk-header */ background-color: #cccccc; }
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||||||
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.org-diff-index { /* diff-index */ background-color: #b3b3b3; font-weight: bold; }
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||||||
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.org-diff-nonexistent { /* diff-nonexistent */ background-color: #b3b3b3; font-weight: bold; }
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||||||
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.org-diff-refine-change { /* diff-refine-change */ background-color: #d9d9d9; }
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||||||
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.org-dired-directory { /* dired-directory */ color: #0000ff; }
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||||||
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.org-dired-flagged { /* dired-flagged */ color: #ff0000; font-weight: bold; }
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||||||
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.org-dired-header { /* dired-header */ color: #228b22; }
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||||||
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.org-dired-ignored { /* dired-ignored */ color: #7f7f7f; }
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||||||
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.org-dired-mark { /* dired-mark */ color: #008b8b; }
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||||||
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.org-dired-marked { /* dired-marked */ color: #ff0000; font-weight: bold; }
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||||||
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.org-dired-perm-write { /* dired-perm-write */ color: #b22222; }
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||||||
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.org-dired-symlink { /* dired-symlink */ color: #a020f0; }
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||||||
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.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; }
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||||||
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.org-doc { /* font-lock-doc-face */ color: #8b2252; }
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||||||
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.org-escape-glyph { /* escape-glyph */ color: #a52a2a; }
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||||||
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.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; }
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||||||
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.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; }
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||||||
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.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; }
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||||||
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.org-fringe { /* fringe */ background-color: #f2f2f2; }
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||||||
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.org-function-name { /* font-lock-function-name-face */ color: teal; }
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||||||
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.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; }
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||||||
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.org-help-argument-name { /* help-argument-name */ font-style: italic; }
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||||||
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.org-highlight { /* highlight */ background-color: #b4eeb4; }
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||||||
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.org-holiday { /* holiday */ background-color: #ffc0cb; }
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||||||
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.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; }
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||||||
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.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; }
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||||||
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.org-italic { /* italic */ font-style: italic; }
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||||||
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.org-keyword { /* font-lock-keyword-face */ color: #0086b3; }
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||||||
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.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; }
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||||||
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.org-link { /* link */ color: #0000ff; text-decoration: underline; }
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||||||
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.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; }
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||||||
|
.org-log-edit-header { /* log-edit-header */ color: #a020f0; }
|
||||||
|
.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; }
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||||||
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.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; }
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||||||
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.org-match { /* match */ background-color: #ffff00; }
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||||||
|
.org-next-error { /* next-error */ background-color: #eedc82; }
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||||||
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.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; }
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||||||
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.org-org-archived { /* org-archived */ color: #7f7f7f; }
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||||||
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.org-org-block { /* org-block */ color: #7f7f7f; }
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||||||
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.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; }
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||||||
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.org-org-block-end-line { /* org-block-end-line */ color: #b22222; }
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||||||
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.org-org-checkbox { /* org-checkbox */ font-weight: bold; }
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||||||
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.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; }
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||||||
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.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
|
||||||
|
.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
|
||||||
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.org-org-code { /* org-code */ color: #7f7f7f; }
|
||||||
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.org-org-column { /* org-column */ background-color: #e5e5e5; }
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||||||
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.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
|
||||||
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.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
|
||||||
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.org-org-document-info { /* org-document-info */ color: #191970; }
|
||||||
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.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
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||||||
|
.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
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||||||
|
.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
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||||||
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.org-org-drawer { /* org-drawer */ color: #0000ff; }
|
||||||
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.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
|
||||||
|
.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
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||||||
|
.org-org-formula { /* org-formula */ color: #b22222; }
|
||||||
|
.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
|
||||||
|
.org-org-hide { /* org-hide */ color: #ffffff; }
|
||||||
|
.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
|
||||||
|
.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
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||||||
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.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
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||||||
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.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
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||||||
|
.org-org-level-4 { /* org-level-4 */ color: #b22222; }
|
||||||
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.org-org-level-5 { /* org-level-5 */ color: #228b22; }
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||||||
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.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
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||||||
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.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
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||||||
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.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
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||||||
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.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
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||||||
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.org-org-meta-line { /* org-meta-line */ color: #b22222; }
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||||||
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.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
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||||||
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.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
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||||||
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.org-org-quote { /* org-quote */ color: #7f7f7f; }
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||||||
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.org-org-scheduled { /* org-scheduled */ color: #006400; }
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||||||
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.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
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||||||
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.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
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||||||
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.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
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||||||
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.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; }
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||||||
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.org-org-table { /* org-table */ color: #0000ff; }
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||||||
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.org-org-tag { /* org-tag */ font-weight: bold; }
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||||||
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.org-org-target { /* org-target */ text-decoration: underline; }
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||||||
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.org-org-time-grid { /* org-time-grid */ color: #b8860b; }
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||||||
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.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; }
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||||||
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.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; }
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||||||
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.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; }
|
||||||
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.org-org-verse { /* org-verse */ color: #7f7f7f; }
|
||||||
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.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; }
|
||||||
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.org-outline-1 { /* outline-1 */ color: #0000ff; }
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||||||
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.org-outline-2 { /* outline-2 */ color: #a0522d; }
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||||||
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.org-outline-3 { /* outline-3 */ color: #a020f0; }
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||||||
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.org-outline-4 { /* outline-4 */ color: #b22222; }
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||||||
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.org-outline-5 { /* outline-5 */ color: #228b22; }
|
||||||
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.org-outline-6 { /* outline-6 */ color: #008b8b; }
|
||||||
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.org-outline-7 { /* outline-7 */ color: #7a378b; }
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||||||
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.org-outline-8 { /* outline-8 */ color: #8b2252; }
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||||||
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.org-preprocessor { /* font-lock-preprocessor-face */ color: #7a378b; }
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||||||
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.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; }
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||||||
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.org-regexp-grouping-backslash { /* font-lock-regexp-grouping-backslash */ font-weight: bold; }
|
||||||
|
.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; }
|
||||||
|
.org-region { /* region */ background-color: #eedc82; }
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||||||
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.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; }
|
||||||
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.org-shadow { /* shadow */ color: #7f7f7f; }
|
||||||
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.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; }
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||||||
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.org-show-paren-mismatch { /* show-paren-mismatch */ color: #ffffff; background-color: #a020f0; }
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||||||
|
.org-string { /* font-lock-string-face */ color: #dd1144; }
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||||||
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.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; }
|
||||||
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.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; }
|
||||||
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.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; }
|
||||||
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.org-type { /* font-lock-type-face */ color: #228b22; }
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||||||
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.org-underline { /* underline */ text-decoration: underline; }
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||||||
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.org-variable-name { /* font-lock-variable-name-face */ color: teal; }
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||||||
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.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; }
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||||||
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.org-widget-button { /* widget-button */ font-weight: bold; }
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||||||
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.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; }
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||||||
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.org-widget-documentation { /* widget-documentation */ color: #006400; }
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||||||
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.org-widget-field { /* widget-field */ background-color: #d9d9d9; }
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||||||
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.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; }
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||||||
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.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; }
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||||||
1095
css/readtheorg.css
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1095
css/readtheorg.css
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BIN
doc/buf634.pdf
BIN
doc/buf634.pdf
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723
index.html
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index.html
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124
index.org
124
index.org
@ -9,11 +9,13 @@
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|||||||
#+EMAIL: dehaeze.thomas@gmail.com
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#+EMAIL: dehaeze.thomas@gmail.com
|
||||||
#+AUTHOR: Dehaeze Thomas
|
#+AUTHOR: Dehaeze Thomas
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||||||
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|
||||||
#+HTML_LINK_HOME: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||||
#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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||||||
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
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||||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
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||||||
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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||||||
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#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||||
|
|
||||||
#+LATEX_CLASS: cleanreport
|
#+LATEX_CLASS: cleanreport
|
||||||
#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
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#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
|
||||||
@ -32,7 +34,6 @@
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|||||||
#+PROPERTY: header-args:latex+ :exports both
|
#+PROPERTY: header-args:latex+ :exports both
|
||||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||||||
#+PROPERTY: header-args:latex+ :noweb yes
|
#+PROPERTY: header-args:latex+ :noweb yes
|
||||||
#+PROPERTY: header-args:latex+ :tangle no
|
|
||||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
#+PROPERTY: header-args:latex+ :output-dir figs
|
||||||
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||||||
|
|
||||||
@ -367,7 +368,27 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
|
|||||||
|-----------------------------------------------------+-------+------|
|
|-----------------------------------------------------+-------+------|
|
||||||
| Attocube Measurement | =Va= | [m] |
|
| Attocube Measurement | =Va= | [m] |
|
||||||
|
|
||||||
** Matlab Init :noexport:ignore:
|
** ZIP file containing the data and matlab files :ignore:
|
||||||
|
#+begin_src bash :exports none :results none
|
||||||
|
if [ matlab/sercalo_identification.m -nt data/sercalo_identification.zip ]; then
|
||||||
|
cp matlab/sercalo_identification.m sercalo_identification.m;
|
||||||
|
zip data/sercalo_identification \
|
||||||
|
mat/data_cal_pd_h.mat \
|
||||||
|
mat/data_cal_pd_v.mat \
|
||||||
|
mat/data_uch.mat \
|
||||||
|
mat/data_ucv.mat \
|
||||||
|
mat/data_unh.mat \
|
||||||
|
mat/data_unv.mat \
|
||||||
|
sercalo_identification.m
|
||||||
|
rm sercalo_identification.m;
|
||||||
|
fi
|
||||||
|
#+end_src
|
||||||
|
|
||||||
|
#+begin_note
|
||||||
|
All the files (data and Matlab scripts) are accessible [[file:data/sercalo_identification.zip][here]].
|
||||||
|
#+end_note
|
||||||
|
|
||||||
|
** Matlab Init :noexport:ignore:
|
||||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||||
<<matlab-dir>>
|
<<matlab-dir>>
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -376,14 +397,6 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
fs = 1e4;
|
fs = 1e4;
|
||||||
Ts = 1/fs;
|
Ts = 1/fs;
|
||||||
@ -1835,14 +1848,6 @@ Multiple measurements are done with different experimental configuration as foll
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
** Load Data
|
** Load Data
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
|
ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
|
||||||
@ -2120,14 +2125,6 @@ The Attocube's "Environmental Compensation Unit" does not have a significant eff
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
** Effect of the Sercalo angle error on the measured distance by the Attocube
|
** Effect of the Sercalo angle error on the measured distance by the Attocube
|
||||||
<<sec:sercalo_angle_error>>
|
<<sec:sercalo_angle_error>>
|
||||||
To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
|
To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
|
||||||
@ -2690,14 +2687,6 @@ This corresponds to a measurement error of the Attocube equals to (in [m])
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
** Coprime Factorization
|
** Coprime Factorization
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
|
load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
|
||||||
@ -2756,14 +2745,6 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
** Load Plant
|
** Load Plant
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
load('mat/plant.mat', 'G');
|
load('mat/plant.mat', 'G');
|
||||||
@ -2823,14 +2804,6 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
freqs = logspace(1, 3, 1000);
|
freqs = logspace(1, 3, 1000);
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -2898,7 +2871,22 @@ Active damping does not seems to be applicable here.
|
|||||||
** Introduction :ignore:
|
** Introduction :ignore:
|
||||||
In this section, we try to implement a simple decentralized controller.
|
In this section, we try to implement a simple decentralized controller.
|
||||||
|
|
||||||
** Matlab Init :noexport:ignore:
|
** ZIP file containing the data and matlab files :ignore:
|
||||||
|
#+begin_src bash :exports none :results none
|
||||||
|
if [ matlab/decentralized_control.m -nt data/decentralized_control.zip ]; then
|
||||||
|
cp matlab/decentralized_control.m decentralized_control.m;
|
||||||
|
zip data/decentralized_control \
|
||||||
|
mat/plant.mat \
|
||||||
|
decentralized_control.m
|
||||||
|
rm decentralized_control.m;
|
||||||
|
fi
|
||||||
|
#+end_src
|
||||||
|
|
||||||
|
#+begin_note
|
||||||
|
All the files (data and Matlab scripts) are accessible [[file:data/decentralized_control.zip][here]].
|
||||||
|
#+end_note
|
||||||
|
|
||||||
|
** Matlab Init :noexport:ignore:
|
||||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||||
<<matlab-dir>>
|
<<matlab-dir>>
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -2907,14 +2895,6 @@ In this section, we try to implement a simple decentralized controller.
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
freqs = logspace(0, 3, 1000);
|
freqs = logspace(0, 3, 1000);
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -3037,14 +3017,6 @@ This can be used to align the 4QD:
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
freqs = logspace(0, 2, 1000);
|
freqs = logspace(0, 2, 1000);
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -3119,14 +3091,6 @@ All sources of error (detailed in the budget error in Section [[sec:budget_error
|
|||||||
<<matlab-init>>
|
<<matlab-init>>
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
addpath('./matlab/mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :eval no
|
|
||||||
addpath('./mat/');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
fs = 1e4;
|
fs = 1e4;
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|||||||
7
js/bootstrap.min.js
vendored
Normal file
7
js/bootstrap.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
4
js/jquery.min.js
vendored
Normal file
4
js/jquery.min.js
vendored
Normal file
File diff suppressed because one or more lines are too long
1
js/jquery.stickytableheaders.min.js
vendored
Normal file
1
js/jquery.stickytableheaders.min.js
vendored
Normal file
@ -0,0 +1 @@
|
|||||||
|
!function(a,b){"use strict";function c(c,g){var h=this;h.$el=a(c),h.el=c,h.id=e++,h.$window=a(b),h.$document=a(document),h.$el.bind("destroyed",a.proxy(h.teardown,h)),h.$clonedHeader=null,h.$originalHeader=null,h.isSticky=!1,h.hasBeenSticky=!1,h.leftOffset=null,h.topOffset=null,h.init=function(){h.$el.each(function(){var b=a(this);b.css("padding",0),h.$originalHeader=a("thead:first",this),h.$clonedHeader=h.$originalHeader.clone(),b.trigger("clonedHeader."+d,[h.$clonedHeader]),h.$clonedHeader.addClass("tableFloatingHeader"),h.$clonedHeader.css("display","none"),h.$originalHeader.addClass("tableFloatingHeaderOriginal"),h.$originalHeader.after(h.$clonedHeader),h.$printStyle=a('<style type="text/css" media="print">.tableFloatingHeader{display:none !important;}.tableFloatingHeaderOriginal{position:static !important;}</style>'),a("head").append(h.$printStyle)}),h.setOptions(g),h.updateWidth(),h.toggleHeaders(),h.bind()},h.destroy=function(){h.$el.unbind("destroyed",h.teardown),h.teardown()},h.teardown=function(){h.isSticky&&h.$originalHeader.css("position","static"),a.removeData(h.el,"plugin_"+d),h.unbind(),h.$clonedHeader.remove(),h.$originalHeader.removeClass("tableFloatingHeaderOriginal"),h.$originalHeader.css("visibility","visible"),h.$printStyle.remove(),h.el=null,h.$el=null},h.bind=function(){h.$scrollableArea.on("scroll."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.on("scroll."+d+h.id,h.setPositionValues),h.$window.on("resize."+d+h.id,h.toggleHeaders)),h.$scrollableArea.on("resize."+d,h.toggleHeaders),h.$scrollableArea.on("resize."+d,h.updateWidth)},h.unbind=function(){h.$scrollableArea.off("."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.off("."+d+h.id,h.setPositionValues),h.$window.off("."+d+h.id,h.toggleHeaders)),h.$scrollableArea.off("."+d,h.updateWidth)},h.toggleHeaders=function(){h.$el&&h.$el.each(function(){var b,c=a(this),d=h.isWindowScrolling?isNaN(h.options.fixedOffset)?h.options.fixedOffset.outerHeight():h.options.fixedOffset:h.$scrollableArea.offset().top+(isNaN(h.options.fixedOffset)?0:h.options.fixedOffset),e=c.offset(),f=h.$scrollableArea.scrollTop()+d,g=h.$scrollableArea.scrollLeft(),i=h.isWindowScrolling?f>e.top:d>e.top,j=(h.isWindowScrolling?f:0)<e.top+c.height()-h.$clonedHeader.height()-(h.isWindowScrolling?0:d);i&&j?(b=e.left-g+h.options.leftOffset,h.$originalHeader.css({position:"fixed","margin-top":h.options.marginTop,left:b,"z-index":3}),h.leftOffset=b,h.topOffset=d,h.$clonedHeader.css("display",""),h.isSticky||(h.isSticky=!0,h.updateWidth()),h.setPositionValues()):h.isSticky&&(h.$originalHeader.css("position","static"),h.$clonedHeader.css("display","none"),h.isSticky=!1,h.resetWidth(a("td,th",h.$clonedHeader),a("td,th",h.$originalHeader)))})},h.setPositionValues=function(){var a=h.$window.scrollTop(),b=h.$window.scrollLeft();!h.isSticky||0>a||a+h.$window.height()>h.$document.height()||0>b||b+h.$window.width()>h.$document.width()||h.$originalHeader.css({top:h.topOffset-(h.isWindowScrolling?0:a),left:h.leftOffset-(h.isWindowScrolling?0:b)})},h.updateWidth=function(){if(h.isSticky){h.$originalHeaderCells||(h.$originalHeaderCells=a("th,td",h.$originalHeader)),h.$clonedHeaderCells||(h.$clonedHeaderCells=a("th,td",h.$clonedHeader));var b=h.getWidth(h.$clonedHeaderCells);h.setWidth(b,h.$clonedHeaderCells,h.$originalHeaderCells),h.$originalHeader.css("width",h.$clonedHeader.width())}},h.getWidth=function(c){var d=[];return c.each(function(c){var e,f=a(this);if("border-box"===f.css("box-sizing"))e=f[0].getBoundingClientRect().width;else{var g=a("th",h.$originalHeader);if("collapse"===g.css("border-collapse"))if(b.getComputedStyle)e=parseFloat(b.getComputedStyle(this,null).width);else{var i=parseFloat(f.css("padding-left")),j=parseFloat(f.css("padding-right")),k=parseFloat(f.css("border-width"));e=f.outerWidth()-i-j-k}else e=f.width()}d[c]=e}),d},h.setWidth=function(a,b,c){b.each(function(b){var d=a[b];c.eq(b).css({"min-width":d,"max-width":d})})},h.resetWidth=function(b,c){b.each(function(b){var d=a(this);c.eq(b).css({"min-width":d.css("min-width"),"max-width":d.css("max-width")})})},h.setOptions=function(c){h.options=a.extend({},f,c),h.$scrollableArea=a(h.options.scrollableArea),h.isWindowScrolling=h.$scrollableArea[0]===b},h.updateOptions=function(a){h.setOptions(a),h.unbind(),h.bind(),h.updateWidth(),h.toggleHeaders()},h.init()}var d="stickyTableHeaders",e=0,f={fixedOffset:0,leftOffset:0,marginTop:0,scrollableArea:b};a.fn[d]=function(b){return this.each(function(){var e=a.data(this,"plugin_"+d);e?"string"==typeof b?e[b].apply(e):e.updateOptions(b):"destroy"!==b&&a.data(this,"plugin_"+d,new c(this,b))})}}(jQuery,window);
|
||||||
85
js/readtheorg.js
Normal file
85
js/readtheorg.js
Normal file
@ -0,0 +1,85 @@
|
|||||||
|
$(function() {
|
||||||
|
$('.note').before("<p class='admonition-title note'>Note</p>");
|
||||||
|
$('.seealso').before("<p class='admonition-title seealso'>See also</p>");
|
||||||
|
$('.warning').before("<p class='admonition-title warning'>Warning</p>");
|
||||||
|
$('.caution').before("<p class='admonition-title caution'>Caution</p>");
|
||||||
|
$('.attention').before("<p class='admonition-title attention'>Attention</p>");
|
||||||
|
$('.tip').before("<p class='admonition-title tip'>Tip</p>");
|
||||||
|
$('.important').before("<p class='admonition-title important'>Important</p>");
|
||||||
|
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
||||||
|
$('.error').before("<p class='admonition-title error'>Error</p>");
|
||||||
|
$('.danger').before("<p class='admonition-title danger'>Danger</p>");
|
||||||
|
});
|
||||||
|
|
||||||
|
$( document ).ready(function() {
|
||||||
|
|
||||||
|
// Shift nav in mobile when clicking the menu.
|
||||||
|
$(document).on('click', "[data-toggle='wy-nav-top']", function() {
|
||||||
|
$("[data-toggle='wy-nav-shift']").toggleClass("shift");
|
||||||
|
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||||
|
});
|
||||||
|
// Close menu when you click a link.
|
||||||
|
$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
|
||||||
|
$("[data-toggle='wy-nav-shift']").removeClass("shift");
|
||||||
|
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||||
|
});
|
||||||
|
$(document).on('click', "[data-toggle='rst-current-version']", function() {
|
||||||
|
$("[data-toggle='rst-versions']").toggleClass("shift-up");
|
||||||
|
});
|
||||||
|
// Make tables responsive
|
||||||
|
$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
|
||||||
|
});
|
||||||
|
|
||||||
|
$( document ).ready(function() {
|
||||||
|
$('#text-table-of-contents ul').first().addClass('nav');
|
||||||
|
// ScrollSpy also requires that we use
|
||||||
|
// a Bootstrap nav component.
|
||||||
|
$('body').scrollspy({target: '#text-table-of-contents'});
|
||||||
|
|
||||||
|
// add sticky table headers
|
||||||
|
$('table').stickyTableHeaders();
|
||||||
|
|
||||||
|
// set the height of tableOfContents
|
||||||
|
var $postamble = $('#postamble');
|
||||||
|
var $tableOfContents = $('#table-of-contents');
|
||||||
|
$tableOfContents.css({paddingBottom: $postamble.outerHeight()});
|
||||||
|
|
||||||
|
// add TOC button
|
||||||
|
var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
|
||||||
|
$('#content').prepend(toggleSidebar);
|
||||||
|
|
||||||
|
// add close button when sidebar showed in mobile screen
|
||||||
|
var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
|
||||||
|
var tocTitle = $('#table-of-contents').find('h2');
|
||||||
|
tocTitle.append(closeBtn);
|
||||||
|
});
|
||||||
|
|
||||||
|
window.SphinxRtdTheme = (function (jquery) {
|
||||||
|
var stickyNav = (function () {
|
||||||
|
var navBar,
|
||||||
|
win,
|
||||||
|
stickyNavCssClass = 'stickynav',
|
||||||
|
applyStickNav = function () {
|
||||||
|
if (navBar.height() <= win.height()) {
|
||||||
|
navBar.addClass(stickyNavCssClass);
|
||||||
|
} else {
|
||||||
|
navBar.removeClass(stickyNavCssClass);
|
||||||
|
}
|
||||||
|
},
|
||||||
|
enable = function () {
|
||||||
|
applyStickNav();
|
||||||
|
win.on('resize', applyStickNav);
|
||||||
|
},
|
||||||
|
init = function () {
|
||||||
|
navBar = jquery('nav.wy-nav-side:first');
|
||||||
|
win = jquery(window);
|
||||||
|
};
|
||||||
|
jquery(init);
|
||||||
|
return {
|
||||||
|
enable : enable
|
||||||
|
};
|
||||||
|
}());
|
||||||
|
return {
|
||||||
|
StickyNav : stickyNav
|
||||||
|
};
|
||||||
|
}($));
|
||||||
@ -4,8 +4,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
freqs = logspace(1, 3, 1000);
|
freqs = logspace(1, 3, 1000);
|
||||||
|
|
||||||
% Load Plant
|
% Load Plant
|
||||||
|
|||||||
@ -4,8 +4,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
freqs = logspace(0, 3, 1000);
|
freqs = logspace(0, 3, 1000);
|
||||||
|
|
||||||
% Load Plant
|
% Load Plant
|
||||||
|
|||||||
@ -4,8 +4,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
% Effect of the Sercalo angle error on the measured distance by the Attocube
|
% Effect of the Sercalo angle error on the measured distance by the Attocube
|
||||||
% <<sec:sercalo_angle_error>>
|
% <<sec:sercalo_angle_error>>
|
||||||
% To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
|
% To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
|
||||||
@ -181,8 +179,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
% Coprime Factorization
|
% Coprime Factorization
|
||||||
|
|
||||||
load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
|
load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
|
||||||
@ -195,8 +191,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
% Load Plant
|
% Load Plant
|
||||||
|
|
||||||
load('mat/plant.mat', 'G');
|
load('mat/plant.mat', 'G');
|
||||||
@ -239,8 +233,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
freqs = logspace(0, 2, 1000);
|
freqs = logspace(0, 2, 1000);
|
||||||
|
|
||||||
% Load Plant
|
% Load Plant
|
||||||
@ -291,8 +283,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
fs = 1e4;
|
fs = 1e4;
|
||||||
|
|
||||||
% Data Load and pre-processing
|
% Data Load and pre-processing
|
||||||
@ -525,14 +515,14 @@ Unvm = mean(reshape(uv.Unv, [fs floor(length(uv.t)/fs)]),2);
|
|||||||
figure;
|
figure;
|
||||||
ax1 = subplot(1, 2, 1);
|
ax1 = subplot(1, 2, 1);
|
||||||
hold on;
|
hold on;
|
||||||
plot(uh.Unh, uh.Vaf);
|
plot(uh.Unh, uh.Va);
|
||||||
plot(Unhm, Vahm)
|
plot(Unhm, Vahm)
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
|
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
|
||||||
|
|
||||||
ax2 = subplot(1, 2, 2);
|
ax2 = subplot(1, 2, 2);
|
||||||
hold on;
|
hold on;
|
||||||
plot(uv.Unv, uv.Vaf);
|
plot(uv.Unv, uv.Va);
|
||||||
plot(Unvm, Vavm)
|
plot(Unvm, Vavm)
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
|
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
|
||||||
@ -546,16 +536,17 @@ linkaxes([ax1,ax2],'xy');
|
|||||||
% [[file:figs/repeat_plot_raw.png]]
|
% [[file:figs/repeat_plot_raw.png]]
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
ax1 = subplot(1, 2, 1);
|
ax1 = subplot(1, 2, 1);
|
||||||
hold on;
|
hold on;
|
||||||
plot(uh.Unh, 1e9*(uh.Vaf - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
plot(uh.Unh, 1e9*(uh.Va - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
||||||
|
|
||||||
ax2 = subplot(1, 2, 2);
|
ax2 = subplot(1, 2, 2);
|
||||||
hold on;
|
hold on;
|
||||||
plot(uv.Unv, 1e9*(uv.Vaf - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
plot(uv.Unv, 1e9*(uv.Va - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [nm]');
|
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [nm]');
|
||||||
|
|
||||||
@ -571,7 +562,7 @@ ylim([-100 100]);
|
|||||||
|
|
||||||
% We also plot the displacement measured during the huddle test.
|
% We also plot the displacement measured during the huddle test.
|
||||||
|
|
||||||
% All the signals are shown on Fig. [[fig:non-repeatability-parts]].
|
% All the signals are shown on Fig. [[]].
|
||||||
|
|
||||||
|
|
||||||
Vphm = mean(reshape(uh.Vph/freqresp(Gd(1,1), 0), [fs floor(length(uh.t)/fs)]),2);
|
Vphm = mean(reshape(uh.Vph/freqresp(Gd(1,1), 0), [fs floor(length(uh.t)/fs)]),2);
|
||||||
@ -591,16 +582,6 @@ ht = load('./mat/data_huddle_test_3.mat', 't', 'Va');
|
|||||||
|
|
||||||
htm = 1e9*ht.Va(1:length(Vaheq)) - repmat(mean(1e9*ht.Va(1:length(Vaheq))), length(uh.t)/length(Vaheq),1);
|
htm = 1e9*ht.Va(1:length(Vaheq)) - repmat(mean(1e9*ht.Va(1:length(Vaheq))), length(uh.t)/length(Vaheq),1);
|
||||||
|
|
||||||
figure;
|
|
||||||
hold on;
|
|
||||||
plot(uh.Unh, 1e9*(uh.Va - repmat(Vahm, length(uh.t)/length(Vahm),1)), 'DisplayName', 'Measured Non-Repeatability');
|
|
||||||
plot(uh.Unh, 1e9*ht.Va(1:length(Vaheq))-mean(1e9*ht.Va(1:length(Vaheq))), 'DisplayName', 'Huddle Test');
|
|
||||||
plot(uh.Unh, 1e9*Vaheq, 'DisplayName', 'Due to Sercalo Angle Error');
|
|
||||||
hold off;
|
|
||||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
|
||||||
ylim([-100 100]);
|
|
||||||
legend();
|
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
ax1 = subplot(1, 2, 1);
|
ax1 = subplot(1, 2, 1);
|
||||||
hold on;
|
hold on;
|
||||||
@ -621,71 +602,3 @@ legend('location', 'northeast');
|
|||||||
|
|
||||||
linkaxes([ax1,ax2],'xy');
|
linkaxes([ax1,ax2],'xy');
|
||||||
ylim([-100 100]);
|
ylim([-100 100]);
|
||||||
|
|
||||||
% Results with a low pass filter
|
|
||||||
% We filter the data with a first order low pass filter with a crossover frequency of $\omega_0$.
|
|
||||||
|
|
||||||
|
|
||||||
w0 = 10; % [Hz]
|
|
||||||
|
|
||||||
G_lpf = 1/(1 + s/2/pi/w0);
|
|
||||||
|
|
||||||
uh.Vaf = lsim(G_lpf, uh.Va, uh.t);
|
|
||||||
uv.Vaf = lsim(G_lpf, uv.Va, uv.t);
|
|
||||||
|
|
||||||
% Processing
|
|
||||||
% First, we get the mean value as measured by the interferometer for each value of the Newport angle.
|
|
||||||
|
|
||||||
Vahm = mean(reshape(uh.Vaf, [fs floor(length(uh.t)/fs)]),2);
|
|
||||||
Unhm = mean(reshape(uh.Unh, [fs floor(length(uh.t)/fs)]),2);
|
|
||||||
|
|
||||||
Vavm = mean(reshape(uv.Vaf, [fs floor(length(uv.t)/fs)]),2);
|
|
||||||
Unvm = mean(reshape(uv.Unv, [fs floor(length(uv.t)/fs)]),2);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% | Va - Horizontal [nm rms] | Va - Vertical [nm rms] |
|
|
||||||
% |--------------------------+------------------------|
|
|
||||||
% | 22.9 | 13.9 |
|
|
||||||
|
|
||||||
|
|
||||||
figure;
|
|
||||||
ax1 = subplot(1, 2, 1);
|
|
||||||
hold on;
|
|
||||||
plot(uh.Unh, uh.Vaf);
|
|
||||||
plot(Unhm, Vahm)
|
|
||||||
hold off;
|
|
||||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
|
|
||||||
|
|
||||||
ax2 = subplot(1, 2, 2);
|
|
||||||
hold on;
|
|
||||||
plot(uv.Unv, uv.Vaf);
|
|
||||||
plot(Unvm, Vavm)
|
|
||||||
hold off;
|
|
||||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
|
|
||||||
|
|
||||||
linkaxes([ax1,ax2],'xy');
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+NAME: fig:repeat_plot_raw
|
|
||||||
% #+CAPTION: Repeatability of the measurement ([[./figs/repeat_plot_lpf.png][png]], [[./figs/repeat_plot_lpf.pdf][pdf]])
|
|
||||||
% [[file:figs/repeat_plot_lpf.png]]
|
|
||||||
|
|
||||||
|
|
||||||
figure;
|
|
||||||
ax1 = subplot(1, 2, 1);
|
|
||||||
hold on;
|
|
||||||
plot(uh.Unh, 1e9*(uh.Vaf - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
|
||||||
hold off;
|
|
||||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
|
||||||
|
|
||||||
ax2 = subplot(1, 2, 2);
|
|
||||||
hold on;
|
|
||||||
plot(uv.Unv, 1e9*(uv.Vaf - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
|
||||||
hold off;
|
|
||||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [nm]');
|
|
||||||
|
|
||||||
linkaxes([ax1,ax2],'xy');
|
|
||||||
ylim([-60 60]);
|
|
||||||
|
|||||||
@ -4,8 +4,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
% Load Data
|
% Load Data
|
||||||
|
|
||||||
ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
|
ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
|
||||||
@ -45,53 +43,36 @@ ht_2 = ht_s{2};
|
|||||||
ht_3 = ht_s{3};
|
ht_3 = ht_s{3};
|
||||||
ht_4 = ht_s{4};
|
ht_4 = ht_s{4};
|
||||||
|
|
||||||
% Filter data with low pass filter
|
|
||||||
% We filter the data with a first order low pass filter with a crossover frequency of $\omega_0$.
|
|
||||||
|
|
||||||
|
|
||||||
w0 = 50; % [Hz]
|
|
||||||
|
|
||||||
G_lpf = 1/(1 + s/2/pi/w0);
|
|
||||||
|
|
||||||
ht_1.Vaf = lsim(G_lpf, ht_1.Va, ht_1.t);
|
|
||||||
ht_2.Vaf = lsim(G_lpf, ht_2.Va, ht_2.t);
|
|
||||||
ht_3.Vaf = lsim(G_lpf, ht_3.Va, ht_3.t);
|
|
||||||
ht_4.Vaf = lsim(G_lpf, ht_4.Va, ht_4.t);
|
|
||||||
|
|
||||||
% Time domain plots
|
% Time domain plots
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
ax1 = subplot(2, 2, 1);
|
ax1 = subplot(2, 2, 1)
|
||||||
hold on;
|
hold on;
|
||||||
plot(ht_1.t, 1e9*ht_1.Va);
|
plot(ht_1.t, 1e9*ht_1.Va);
|
||||||
plot(ht_1.t, 1e9*ht_1.Vaf);
|
|
||||||
hold off;
|
hold off;
|
||||||
ylabel('Displacement [nm]');
|
ylabel('Displacement [nm]');
|
||||||
set(gca, 'XTickLabel',[]);
|
set(gca, 'XTickLabel',[]);
|
||||||
title('OL');
|
title('OL');
|
||||||
|
|
||||||
ax2 = subplot(2, 2, 2);
|
ax2 = subplot(2, 2, 2)
|
||||||
hold on;
|
hold on;
|
||||||
plot(ht_2.t, 1e9*ht_2.Va);
|
plot(ht_2.t, 1e9*ht_2.Va);
|
||||||
plot(ht_2.t, 1e9*ht_2.Vaf);
|
|
||||||
hold off;
|
hold off;
|
||||||
set(gca, 'XTickLabel',[]);
|
set(gca, 'XTickLabel',[]);
|
||||||
set(gca, 'YTickLabel',[]);
|
set(gca, 'YTickLabel',[]);
|
||||||
title('OL + CU');
|
title('OL + CU');
|
||||||
|
|
||||||
ax3 = subplot(2, 2, 3);
|
ax3 = subplot(2, 2, 3)
|
||||||
hold on;
|
hold on;
|
||||||
plot(ht_3.t, 1e9*ht_3.Va);
|
plot(ht_3.t, 1e9*ht_3.Va);
|
||||||
plot(ht_3.t, 1e9*ht_3.Vaf);
|
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('Time [s]');
|
xlabel('Time [s]');
|
||||||
ylabel('Displacement [nm]');
|
ylabel('Displacement [nm]');
|
||||||
title('CL + CU');
|
title('CL + CU');
|
||||||
|
|
||||||
ax4 = subplot(2, 2, 4);
|
ax4 = subplot(2, 2, 4)
|
||||||
hold on;
|
hold on;
|
||||||
plot(ht_4.t, 1e9*ht_4.Va);
|
plot(ht_4.t, 1e9*ht_4.Va);
|
||||||
plot(ht_4.t, 1e9*ht_4.Vaf);
|
|
||||||
hold off;
|
hold off;
|
||||||
xlabel('Time [s]');
|
xlabel('Time [s]');
|
||||||
set(gca, 'YTickLabel',[]);
|
set(gca, 'YTickLabel',[]);
|
||||||
|
|||||||
@ -4,8 +4,6 @@ clear; close all; clc;
|
|||||||
%% Intialize Laplace variable
|
%% Intialize Laplace variable
|
||||||
s = zpk('s');
|
s = zpk('s');
|
||||||
|
|
||||||
addpath('./mat/');
|
|
||||||
|
|
||||||
fs = 1e4;
|
fs = 1e4;
|
||||||
Ts = 1/fs;
|
Ts = 1/fs;
|
||||||
freqs = logspace(1, 3, 1000);
|
freqs = logspace(1, 3, 1000);
|
||||||
@ -125,8 +123,6 @@ legend();
|
|||||||
|
|
||||||
|
|
||||||
% #+name: tab:gain_4qd
|
% #+name: tab:gain_4qd
|
||||||
% #+attr_latex: :environment tabularx :width 0.5\linewidth :align lX
|
|
||||||
% #+attr_latex: :center t :booktabs t :float t
|
|
||||||
% #+caption: Identified Gain of the 4 quadrant diode
|
% #+caption: Identified Gain of the 4 quadrant diode
|
||||||
% #+RESULTS:
|
% #+RESULTS:
|
||||||
% | Horizontal [V/rad] | Vertical [V/rad] |
|
% | Horizontal [V/rad] | Vertical [V/rad] |
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user