Update the main control.org file

org/control.org

@@ -118,7 +118,7 @@ Combining both can be done in an HAC-LAC topology presented in Section [[sec:hac
 
 The use of decentralized controllers is proposed in Section [[sec:cascade_control]].
 
-* Tracking Control - Basic Architectures
+* Tracking Control in the Frame of the Nano-Hexapod - Basic Architectures
 <<sec:tracking_control>>
 ** Introduction                                                      :ignore:
 In this section, we suppose that we want to track some reference position $\bm{r}_{\mathcal{X}_n}$ corresponding to the pose of the nano-hexapod's mobile platform with respect to its fixed base.
@@ -209,7 +209,7 @@ These forces are then converted to forces applied in each of the nano-hexapod's
 #+RESULTS:
 [[file:figs/control_architecture_cartesian_frame.png]]
 
-* Active Damping Architecture - Collocated Control
+* Active Damping Architecture - Collocated Control ([[file:control_active_damping.org][link]])
 <<sec:active_damping>>
 ** Introduction                                                      :ignore:
 From cite:preumont18_vibrat_contr_activ_struc_fourt_edition:
@@ -222,6 +222,8 @@ Two very well known active damping techniques are *Integral Force Feedback* and
 
 These two active damping techniques are collocated control techniques.
 
+The active damping techniques are studied in [[file:control_active_damping.org][this]] document.
+
 ** Integral Force Feedback
 <<sec:active_damping_iff>>
 
@@ -307,7 +309,7 @@ Each diagonal element consists of:
 #+RESULTS:
 [[file:figs/control_architecture_dvf.png]]
 
-* HAC-LAC Architectures
+* HAC-LAC Architectures ([[file:control_hac_lac.org][link]])
 <<sec:hac_lac>>
 ** Introduction                                                      :ignore:
 Here we can combine Active Damping Techniques (Low authority control) with a tracking controller (high authority control).
@@ -475,7 +477,44 @@ Usually, the Low Authority Controller is first design, and then the High Authori
 #+RESULTS:
 [[file:figs/control_architecture_hac_iff_X.png]]
 
-* Cascade Architectures
+** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite
+#+begin_src latex :file control_architecture_hac_iff_pos_X.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, above=0.4 of P] (Kiff) {$\bm{K}_\text{IFF}$};
+    \node[addb={+}{}{-}{}{}, left= of inputF] (addF) {};
+    \node[block, left= of addF] (J) {$\bm{J}^{-T}$};
+    \node[block, left= of J] (K) {$\bm{K}_\mathcal{X}$};
+    \node[block, align=center, left= of K] (Ex) {Compute\\Pos. Error};
+
+    % Connections and labels
+    \draw[->] (outputF) -- ++(1, 0) node[below left]{$\bm{\tau}_m$};
+    \draw[->] ($(outputF) + (0.6, 0)$)node[branch]{} |- (Kiff.east);
+    \draw[->] (Kiff.west) -| (addF.north);
+    \draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$};
+
+    \draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$};
+
+    \draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$};
+    \draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -2) -| (Ex.south);
+
+    \draw[<-] (Ex.west)node[above left]{$\bm{r}_{\mathcal{X}}$} -- ++(-1, 0);
+    \draw[->] (Ex.east) -- (K.west) node[above left]{$\bm{\epsilon}_{\mathcal{X}_n}$};
+    \draw[->] (K.east) -- (J.west) node[above left]{$\bm{\mathcal{F}}$};
+    \draw[->] (J.east) -- (addF.west) node[above left]{$\bm{\tau}^\prime$};
+  \end{tikzpicture}
+#+end_src
+
+#+RESULTS:
+[[file:figs/control_architecture_hac_iff_pos_X.png]]
+
+* Cascade Architectures ([[file:control_cascade.org][link]])
 <<sec:cascade_control>>
 ** Introduction                                                      :ignore:
 The principle of Cascade control is shown in Figure [[fig:control_architecture_cascade_control]] and explained as follow:
@@ -649,13 +688,13 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
 #+RESULTS:
 [[file:figs/control_architecture_cascade_X.png]]
 
-* Sensor Fusion Architectures
+* Sensor Fusion Architectures                                       :noexport:
 <<sec:sensor_fusion>>
 
-* $\mathcal{H}_\infty$ Architectures
+* $\mathcal{H}_\infty$ Architectures                                :noexport:
 <<sec:h_infinity>>
 
-* Force Control
+* Force Control ([[file:control_force.org][link]])
 Signals:
 - $\bm{r}_\mathcal{F}$ is the wanted total force/torque to be applied to the payload
 - $\bm{\epsilon}_\mathcal{F}$ is the force/torque errors that should be applied to the payload
@@ -692,6 +731,7 @@ Signals:
 
 #+RESULTS:
 [[file:figs/control_architecture_force.png]]
+
 * Bibliography                                                        :ignore:
 bibliographystyle:unsrt
 bibliography:ref.bib