Use online CSS / JS

.gitignore

@@ -1,5 +1,9 @@
 auto/
 *.tex
+*.bbl
+*.synctex.gz
+.auctex-auto/
+_minted*
 
 **/figs/*.svg
 **/figs/*.tex

css/htmlize.css

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index.org

@@ -1,24 +1,29 @@
 #+TITLE: Sercalo Test Bench
 :DRAWER:
+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+
 #+STARTUP: overview
 
 #+LANGUAGE: en
 #+EMAIL: dehaeze.thomas@gmail.com
 #+AUTHOR: Dehaeze Thomas
 
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
-#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
+#+HTML_LINK_HOME: ../index.html
+#+HTML_LINK_UP:   ../index.html
 
-#+LATEX_CLASS: scrreprt
-#+LATEX_CLASS_OPTIONS: []
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+
+#+LATEX_CLASS: cleanreport
+#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
 #+LATEX_HEADER: \usepackage{minted}
 
-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/latex/}{config.tex}")
+#+LATEX_HEADER: \newcommand{\authorFirstName}{Thomas}
+#+LATEX_HEADER: \newcommand{\authorLastName}{Dehaeze}
+#+LATEX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/tikz/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
@@ -27,6 +32,7 @@
 #+PROPERTY: header-args:latex+ :exports both
 #+PROPERTY: header-args:latex+ :mkdirp yes
 #+PROPERTY: header-args:latex+ :noweb yes
+#+PROPERTY: header-args:latex+ :tangle no
 #+PROPERTY: header-args:latex+ :output-dir figs
 #+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
 
@@ -40,6 +46,12 @@
 #+PROPERTY: header-args:matlab+ :mkdirp yes
 :END:
 
+#+begin_export html
+  <hr>
+  <p>This report is also available as a <a href="./index.pdf">pdf</a>.</p>
+  <hr>
+#+end_export
+
 * Introduction
 ** Block Diagram
 The block diagram of the setup to be controlled is shown in Fig. [[fig:block_diagram_simplify]].
@@ -136,6 +148,7 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
 #+end_src
 
 #+name: fig:block_diagram
+#+attr_latex: :width \linewidth
 #+caption: Block Diagram of the Experimental Setup with detailed dynamics
 #+RESULTS:
 [[file:figs/sercalo_diagram.png]]
@@ -144,11 +157,14 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
 From the Sercalo documentation, we have the parameters shown on table [[tab:sercalo_parameters]].
 
 #+name: tab:sercalo_parameters
+#+attr_latex: :environment tabularx :width \linewidth :align lXXXXX
+#+attr_latex: :center t :booktabs t :float t
 #+caption: Sercalo Parameters
-|                  | Maximum Stroke [deg] | Resonance Frequency [Hz] | DC Gain [mA/deg] | Gain at resonance [deg/V] | RC Resistance [Ohm] |
-|------------------+----------------------+--------------------------+------------------+---------------------------+---------------------|
-| AX1 (Horizontal) |                    5 |                   411.13 |             28.4 |                     382.9 |                9.41 |
-| AX2 (Vertical)   |                    5 |                    252.5 |             35.2 |                     350.4 |                     |
+|                  | Max. Stroke | Res. Freq. |  DC Gain | Gain at res. | RC Res. |
+|                  |       [deg] |       [Hz] | [mA/deg] |      [deg/V] | [Ohm]   |
+|------------------+-------------+------------+----------+--------------+---------|
+| AX1 (Horizontal) |           5 |     411.13 |     28.4 |        382.9 | 9.41    |
+| AX2 (Vertical)   |           5 |      252.5 |     35.2 |        350.4 |         |
 
 The Inductance and DC resistance of the two axis of the Sercalo have been measured:
 - $L_{c,h} = 0.1\ \text{mH}$
@@ -269,10 +285,12 @@ And we have:
 \end{align*}
 
 #+name: fig:newport_doc
+#+attr_latex: :width \linewidth
 #+caption: Documentation of the Newport
 [[file:figs/newport_doc.png]]
 
 #+name: fig:newport_gain
+#+attr_latex: :width \linewidth
 #+caption: Transfer function of the Newport
 [[file:figs/newport_gain.png]]
 
@@ -349,27 +367,7 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
 |-----------------------------------------------------+-------+------|
 | Attocube Measurement                                | =Va=  | [m]  |
 
-** 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:
+** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
   <<matlab-dir>>
 #+end_src
@@ -378,6 +376,14 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 #+begin_src matlab
   fs = 1e4;
   Ts = 1/fs;
@@ -539,6 +545,8 @@ Thus, we obtain the "gain of the 4 quadrant photo-diode as shown on table [[tab:
 #+end_src
 
 #+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
 #+RESULTS:
 | Horizontal [V/rad] | Vertical [V/rad] |
@@ -1807,6 +1815,8 @@ The goal is to determine the noise of the photodiodes as well as the noise of th
 Multiple measurements are done with different experimental configuration as follow:
 
 #+name: tab:huddle_tests
+#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
+#+attr_latex: :center t :booktabs t :float t
 #+caption: Experimental Configuration for the various Huddle test
 | Number | OL/CL       | Compensation Unit | Aluminum |
 |--------+-------------+-------------------+----------|
@@ -1825,6 +1835,14 @@ Multiple measurements are done with different experimental configuration as foll
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 ** Load Data
 #+begin_src matlab
   ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
@@ -2058,7 +2076,6 @@ We filter the data with a first order low pass filter with a crossover frequency
 #+CAPTION: PSD of the 4QD signal during Huddle tests ([[./figs/huddle_test_4qd_psd.png][png]], [[./figs/huddle_test_4qd_psd.pdf][pdf]])
 [[file:figs/huddle_test_4qd_psd.png]]
 
-
 ** Conclusion
 The Attocube's "Environmental Compensation Unit" does not have a significant effect on the stability of the measurement.
 
@@ -2103,6 +2120,14 @@ The Attocube's "Environmental Compensation Unit" does not have a significant eff
   <<matlab-init>>
 #+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
 <<sec:sercalo_angle_error>>
 To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
@@ -2245,6 +2270,8 @@ The tracking error of the feedback system used to position the Sercalo mirror sh
 #+end_important
 
 #+name: tab:effect_angle_error
+#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
+#+attr_latex: :center t :booktabs t :float t
 #+caption: Effect of an angle error $\delta \theta_c$ of the Sercalo's mirror on the measurement error $\delta L$ by the Attocube
 | Angle Error $\delta \theta_c$ | Distance measurement error $\delta L$ |
 |-------------------------------+---------------------------------------|
@@ -2354,11 +2381,11 @@ These physical properties should change relatively slowly, however, for a beam p
 | $\Delta 10\%RH$         | 10nm              |
 
 An *Environmental Compensation Unit* is used and can compensate for variations or air properties up to:
-| Air property Variations | Measurement error |
-|-------------------------+-------------------|
-| $\Delta T = \pm 0.1^oC$ | 20nm              |
-| $\Delta P = \pm 1hPa$   | 50nm              |
-| $\Delta \pm 2\%RH$      | 4nm               |
+| Air property Variations | Measurement error   |
+|-------------------------+---------------------|
+| $\Delta T = \pm 0.1^oC$ | $\pm 10\,\text{nm}$ |
+| $\Delta P = \pm 1hPa$   | $\pm 25\,\text{nm}$ |
+| $\Delta \pm 2\%RH$      | $\pm 2\,\text{nm}$  |
 
 #+begin_important
 The total measurement error induced by air properties variations is then:
@@ -2663,6 +2690,14 @@ This corresponds to a measurement error of the Attocube equals to (in [m])
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 ** Coprime Factorization
 #+begin_src matlab
   load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
@@ -2679,6 +2714,8 @@ The goal is the scale the plant prior to control synthesis.
 This will simplify the choice of weighting functions and will yield useful insight on the controllability of the plant.
 
 #+name: tab:plant_scaling_values
+#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
+#+attr_latex: :center t :booktabs t :float t
 #+caption: Maximum wanted values for various signals
 |                        | Value | Unit        | Variable Name |
 |------------------------+-------+-------------+---------------|
@@ -2719,6 +2756,14 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 ** Load Plant
 #+begin_src matlab
   load('mat/plant.mat', 'G');
@@ -2778,6 +2823,14 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 #+begin_src matlab
   freqs = logspace(1, 3, 1000);
 #+end_src
@@ -2845,22 +2898,7 @@ Active damping does not seems to be applicable here.
 ** Introduction                                                     :ignore:
 In this section, we try to implement a simple decentralized controller.
 
-** 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:
+** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
   <<matlab-dir>>
 #+end_src
@@ -2869,6 +2907,14 @@ In this section, we try to implement a simple decentralized controller.
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 #+begin_src matlab
   freqs = logspace(0, 3, 1000);
 #+end_src
@@ -2991,6 +3037,14 @@ This can be used to align the 4QD:
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 #+begin_src matlab
   freqs = logspace(0, 2, 1000);
 #+end_src
@@ -3065,6 +3119,14 @@ All sources of error (detailed in the budget error in Section [[sec:budget_error
   <<matlab-init>>
 #+end_src
 
+#+begin_src matlab :tangle no
+  addpath('./matlab/mat/');
+#+end_src
+
+#+begin_src matlab :eval no
+  addpath('./mat/');
+#+end_src
+
 #+begin_src matlab
   fs = 1e4;
 #+end_src

js/jquery.stickytableheaders.min.js

@@ -1 +0,0 @@
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js/readtheorg.js

@@ -1,85 +0,0 @@
-$(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 = $('#table-of-contents').find('h2');
-    tocTitle.append(closeBtn);
-});
-
-window.SphinxRtdTheme = (function (jquery) {
-    var stickyNav = (function () {
-        var navBar,
-            win,
-            stickyNavCssClass = 'stickynav',
-            applyStickNav = function () {
-                if (navBar.height() <= win.height()) {
-                    navBar.addClass(stickyNavCssClass);
-                } else {
-                    navBar.removeClass(stickyNavCssClass);
-                }
-            },
-            enable = function () {
-                applyStickNav();
-                win.on('resize', applyStickNav);
-            },
-            init = function () {
-                navBar = jquery('nav.wy-nav-side:first');
-                win    = jquery(window);
-            };
-        jquery(init);
-        return {
-            enable : enable
-        };
-    }());
-    return {
-        StickyNav : stickyNav
-    };
-}($));

matlab/active_damping.m

@@ -4,6 +4,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 freqs = logspace(1, 3, 1000);
 
 % Load Plant
@@ -21,7 +23,7 @@ Kppf.OutputName = {'Uch', 'Ucv'};
 
 figure;
 % Magnitude
-ax1 = subaxis(2,1,1);
+ax1 = subplot(2,1,1);
 hold on;
 plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
@@ -30,7 +32,7 @@ ylabel('Magnitude [dB]');
 hold off;
 
 % Phase
-ax2 = subaxis(2,1,2);
+ax2 = subplot(2,1,2);
 hold on;
 plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
 set(gca,'xscale','log');

matlab/decentralized_control.m

@@ -4,6 +4,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 freqs = logspace(0, 3, 1000);
 
 % Load Plant
@@ -23,7 +25,7 @@ K.OutputName = {'Uch', 'Ucv'};
 
 figure;
 % Magnitude
-ax1 = subaxis(2,1,1);
+ax1 = subplot(2,1,1);
 hold on;
 plot(freqs, abs(squeeze(freqresp(Kh*sys('Rh', 'Uch'), freqs, 'Hz'))), 'DisplayName', '$L_h = K_h G_{d,h}^{-1} G_{\frac{V_{p,h}}{\tilde{U}_{c,h}}} G_{i,h} $');
 plot(freqs, abs(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))), 'DisplayName', '$L_v = K_v G_{d,v}^{-1} G_{\frac{V_{p,v}}{\tilde{U}_{c,v}}} G_{i,v} $');
@@ -34,7 +36,7 @@ hold off;
 legend('location', 'northeast');
 
 % Phase
-ax2 = subaxis(2,1,2);
+ax2 = subplot(2,1,2);
 hold on;
 plot(freqs, 180/pi*angle(squeeze(freqresp(Kh*sys('Rh', 'Uch'), freqs, 'Hz'))));
 plot(freqs, 180/pi*angle(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))));

matlab/frf_processing.m

@@ -4,6 +4,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 % Effect of the Sercalo angle error on the measured distance by the Attocube
 % <<sec:sercalo_angle_error>>
 % To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
@@ -179,6 +181,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 % Coprime Factorization
 
 load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
@@ -191,6 +195,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 % Load Plant
 
 load('mat/plant.mat', 'G');
@@ -233,6 +239,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 freqs = logspace(0, 2, 1000);
 
 % Load Plant
@@ -283,6 +291,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 fs = 1e4;
 
 % Data Load and pre-processing
@@ -515,14 +525,14 @@ Unvm = mean(reshape(uv.Unv, [fs floor(length(uv.t)/fs)]),2);
 figure;
 ax1 = subplot(1, 2, 1);
 hold on;
-plot(uh.Unh, uh.Va);
+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.Va);
+plot(uv.Unv, uv.Vaf);
 plot(Unvm, Vavm)
 hold off;
 xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
@@ -536,17 +546,16 @@ linkaxes([ax1,ax2],'xy');
 % [[file:figs/repeat_plot_raw.png]]
 
 
-
 figure;
 ax1 = subplot(1, 2, 1);
 hold on;
-plot(uh.Unh, 1e9*(uh.Va - repmat(Vahm, length(uh.t)/length(Vahm),1)));
+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.Va - repmat(Vavm, length(uv.t)/length(Vavm),1)));
+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]');
 
@@ -562,7 +571,7 @@ ylim([-100 100]);
 
 % We also plot the displacement measured during the huddle test.
 
-% All the signals are shown on Fig. [[]].
+% All the signals are shown on Fig. [[fig:non-repeatability-parts]].
 
 
 Vphm = mean(reshape(uh.Vph/freqresp(Gd(1,1), 0), [fs floor(length(uh.t)/fs)]),2);
@@ -582,6 +591,16 @@ 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);
 
+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;
 ax1 = subplot(1, 2, 1);
 hold on;
@@ -602,3 +621,71 @@ legend('location', 'northeast');
 
 linkaxes([ax1,ax2],'xy');
 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]);

matlab/huddle_test.m

@@ -4,6 +4,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 % Load Data
 
 ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
@@ -43,36 +45,53 @@ ht_2 = ht_s{2};
 ht_3 = ht_s{3};
 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
 
 figure;
-ax1 = subaxis(2, 2, 1)
+ax1 = subplot(2, 2, 1);
 hold on;
 plot(ht_1.t, 1e9*ht_1.Va);
+plot(ht_1.t, 1e9*ht_1.Vaf);
 hold off;
 ylabel('Displacement [nm]');
 set(gca, 'XTickLabel',[]);
 title('OL');
 
-ax2 = subaxis(2, 2, 2)
+ax2 = subplot(2, 2, 2);
 hold on;
 plot(ht_2.t, 1e9*ht_2.Va);
+plot(ht_2.t, 1e9*ht_2.Vaf);
 hold off;
 set(gca, 'XTickLabel',[]);
 set(gca, 'YTickLabel',[]);
 title('OL + CU');
 
-ax3 = subaxis(2, 2, 3)
+ax3 = subplot(2, 2, 3);
 hold on;
 plot(ht_3.t, 1e9*ht_3.Va);
+plot(ht_3.t, 1e9*ht_3.Vaf);
 hold off;
 xlabel('Time [s]');
 ylabel('Displacement [nm]');
 title('CL + CU');
 
-ax4 = subaxis(2, 2, 4)
+ax4 = subplot(2, 2, 4);
 hold on;
 plot(ht_4.t, 1e9*ht_4.Va);
+plot(ht_4.t, 1e9*ht_4.Vaf);
 hold off;
 xlabel('Time [s]');
 set(gca, 'YTickLabel',[]);
@@ -88,7 +107,7 @@ linkaxes([ax1 ax2 ax3 ax4], 'xy');
 
 
 figure;
-ax1 = subaxis(2, 2, 1)
+ax1 = subplot(2, 2, 1)
 hold on;
 plot(ht_1.t, ht_1.Vph);
 plot(ht_1.t, ht_1.Vpv);
@@ -97,7 +116,7 @@ ylabel('Voltage [V]');
 set(gca, 'XTickLabel',[]);
 title('OL');
 
-ax2 = subaxis(2, 2, 2)
+ax2 = subplot(2, 2, 2)
 hold on;
 plot(ht_2.t, ht_2.Vph);
 plot(ht_2.t, ht_2.Vpv);
@@ -106,7 +125,7 @@ set(gca, 'XTickLabel',[]);
 set(gca, 'YTickLabel',[]);
 title('OL + CU');
 
-ax3 = subaxis(2, 2, 3)
+ax3 = subplot(2, 2, 3)
 hold on;
 plot(ht_3.t, ht_3.Vph);
 plot(ht_3.t, ht_3.Vpv);
@@ -115,7 +134,7 @@ xlabel('Time [s]');
 ylabel('Voltage [V]');
 title('CL + CU');
 
-ax4 = subaxis(2, 2, 4)
+ax4 = subplot(2, 2, 4)
 hold on;
 plot(ht_4.t, ht_4.Vph);
 plot(ht_4.t, ht_4.Vpv);

matlab/sercalo_identification.m

@@ -4,6 +4,8 @@ clear; close all; clc;
 %% Intialize Laplace variable
 s = zpk('s');
 
+addpath('./mat/');
+
 fs = 1e4;
 Ts = 1/fs;
 freqs = logspace(1, 3, 1000);
@@ -123,6 +125,8 @@ legend();
 
 
 % #+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
 % #+RESULTS:
 % | Horizontal [V/rad] | Vertical [V/rad] |