Add noise budgeting to HAC-DVF control

org/control.org

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