Add noise budgeting to HAC-DVF control
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docs/figs/control_architecture_hac_dvf_pos_L.pdf
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@ -534,6 +534,43 @@ Usually, the Low Authority Controller is first design, and then the High Authori
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#+RESULTS:
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[[file:figs/control_architecture_hac_iff_pos_L.png]]
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** HAC-LAC using DVF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs
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#+begin_src latex :file control_architecture_hac_dvf_pos_L.pdf
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\begin{tikzpicture}
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% Blocs
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\node[block={3.0cm}{3.0cm}] (P) {Plant};
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\coordinate[] (inputF) at ($(P.south west)!0.5!(P.north west)$);
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\coordinate[] (outputF) at ($(P.south east)!0.8!(P.north east)$);
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\coordinate[] (outputX) at ($(P.south east)!0.5!(P.north east)$);
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\coordinate[] (outputL) at ($(P.south east)!0.2!(P.north east)$);
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\node[block, below=0.2 of P] (Kdvf) {$\bm{K}_\text{DVF}$};
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\node[addb={+}{}{}{}{-}, left= of inputF] (addF) {};
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\node[block, left= of addF] (K) {$\bm{K}_\mathcal{L}$};
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\node[block, left= of K] (J) {$\bm{J}$};
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\node[block, align=center, left= of J] (Ex) {Compute\\Pos. Error};
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% Connections and labels
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\draw[->] (outputF) -- ++(1, 0) node[above left]{$\bm{\tau}_m$};
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\draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$};
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\draw[->] ($(outputL) + (0.6, 0)$)node[branch]{} |- (Kdvf.east);
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\draw[->] (Kdvf.west) -| (addF.south);
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\draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$};
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\draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$};
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\draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -3) -| (Ex.south);
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\draw[<-] (Ex.west)node[above left]{$\bm{r}_{\mathcal{X}}$} -- ++(-1, 0);
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\draw[->] (Ex.east) -- (J.west) node[above left]{$\bm{\epsilon}_{\mathcal{X}_n}$};
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\draw[->] (J.east) -- (K.west) node[above left]{$\bm{\epsilon}_{\mathcal{L}}$};
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\draw[->] (K.east) -- (addF.west) node[above left]{$\bm{\tau}^\prime$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/control_architecture_hac_dvf_pos_L.png]]
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* Cascade Architectures ([[file:control_cascade.org][link]])
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<<sec:cascade_control>>
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** Introduction :ignore:
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