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Test File for the Org Mode Theme

Basics

Normal Markup

You can make words bold, italic, underlined, verbatim and code, and, if you must, strike-through.

Links to Footnotes

A link to a footnote1 and to another footnote2.

Lists

Unordered List:

  • Lorem ipsum dolor sit amet, consectetur adipiscing elit.
  • Nam aliquet euismod viverra.
  • Phasellus turpis nisi, faucibus a orci et, faucibus fermentum ligula.

List with Tasks:

  • Task 1
  • Task 2

  • Sub-tasks:

    • Sub-task 1
    • Sub-task 2

Ordered List:

  1. In libero odio, imperdiet eget ex a, vulputate suscipit tellus.
  2. Etiam sed leo ex.
  3. Integer eu rutrum turpis.

Nested Lists:

  • Nulla facilisi.

  • Donec vulputate risus ut lectus bibendum, vitae fringilla odio tempus.

    1. In libero odio, imperdiet eget ex a, vulputate suscipit tellus.

    2. Etiam sed leo ex.

      • Nulla facilisi.
      • Donec vulputate risus ut lectus bibendum, vitae fringilla odio tempus.
    3. Integer eu rutrum turpis.

  • Ut porta, quam id mattis feugiat, augue mauris bibendum sapien, a pulvinar mi lorem vitae nunc.

    • Integer eu rutrum turpis.

      • Sed pretium mattis nibh, vel lobortis augue semper vel.

Definition List:

Lorem ipsum
dolor sit amet, consectetur adipiscing elit. Mauris laoreet sollicitudin venenatis. Duis sed consequat dolor.
Etiam feugiat
pharetra sapien et semper. Nunc ornare lacus sit amet massa auctor, vitae aliquam eros interdum. Mauris arcu ante, imperdiet vel purus ac, bibendum faucibus diam. Ut blandit nec mi at ultricies. Donec eget mattis nisl. In sed nibh felis. Cras quis convallis orci.
Sed aliquam
odio sed faucibus aliquam, arcu augue elementum justo, ut vulputate ligula sem in augue. Maecenas ante felis, pellentesque auctor semper non, eleifend quis ante. Fusce enim orci, suscipit ac dapibus et, fermentum eu tortor. Duis in facilisis ante, quis faucibus dolor. Etiam maximus lorem quis accumsan vehicula.

Links

Here is a list of links to:

Maths

Here is some inline mathematics: $z = 2$.

Unumbered equation: \[ F(x) = \int_0^x f(t) dt \]

Using the equation environment in Eq. eqref:eq:numbered.

\begin{equation} F(s) = \int_0^\infty f(t) e^{-st} dt \label{eq:numbered} \end{equation}

Using the align environment Equations eqref:eq:align_1 and eqref:eq:align_2.

\begin{align} \mathcal{F}(a) &= \frac{1}{2\pi i}\oint_\gamma \frac{f(z)}{z - a}\,dz \label{eq:align_1} \\ \int_D (\nabla\cdot \mathcal{F})\,dV &=\int_{\partial D}\mathcal{F}\cdot n\, dS \label{eq:align_2} \end{align}

Verse, Quote

Below is a verse.

Great clouds overhead Tiny black birds rise and fall Snow covers Emacs

—AlexSchroeder

Below is a quote.

Nobody ever figures out what life is all about, and it doesn't matter. Explore the world. Nearly everything is really interesting if you go into it deeply enough.

—Richard P. Feynman

Aside

An aside block can be used as shown below.

This is a note about the text using the aside environment. This can be as long as wanted

Cras elementum ex vel orci congue porttitor. Vestibulum scelerisque gravida mattis. Suspendisse sit amet volutpat felis. Cras luctus porta lectus eget scelerisque. Cras blandit purus vel odio malesuada pellentesque. Interdum et malesuada fames ac ante ipsum primis in faucibus. Morbi eget aliquet sapien. Nunc eu elit in ligula aliquam congue dapibus eu massa. Sed accumsan hendrerit viverra. Quisque purus enim, tristique vitae porttitor eu, feugiat non ligula. Duis vitae ipsum vel quam ultricies ornare quis vitae quam. Vivamus commodo mauris non ex rutrum, sagittis facilisis metus tincidunt. Etiam vel nibh sit amet lorem auctor volutpat vel quis nulla. Quisque nec pharetra justo.

Inline Task

Some text.

TODO [C] This is an inline task

SCHEDULED: <2020-11-26 jeu.>

END

Some text.

Headlines

<<sec:headlines>>

Second level Headline with tags   @home @work

Third level Headline

Fourth level Headline

Aliquam aliquet sagittis lorem in rutrum. Cras pharetra viverra nisi, at placerat felis malesuada elementum. Donec tincidunt pharetra tincidunt. Praesent id lectus eget erat porttitor placerat non a magna. Cras non mauris ex. Morbi ut eros eu tellus egestas dapibus et et est. Aenean sollicitudin nibh enim, sed pulvinar massa iaculis sit amet. Vivamus egestas laoreet varius. Sed finibus libero nec quam tempor, eget viverra sapien fermentum. Donec dictum eleifend velit, vel elementum ex ultrices non. Vivamus mauris ex, ultrices quis sem vel, dapibus lacinia est. Praesent a sapien id diam venenatis finibus non vel justo. Cras sagittis tortor ac rutrum elementum. Maecenas luctus tempor enim, vitae suscipit quam consequat a. Phasellus feugiat congue sapien commodo cursus. Interdum et malesuada fames ac ante ipsum primis in faucibus.

Third level Headline

Fourth level Headline

Aliquam aliquet sagittis lorem in rutrum. Cras pharetra viverra nisi, at placerat felis malesuada elementum. Donec tincidunt pharetra tincidunt. Praesent id lectus eget erat porttitor placerat non a magna. Cras non mauris ex. Morbi ut eros eu tellus egestas dapibus et et est. Aenean sollicitudin nibh enim, sed pulvinar massa iaculis sit amet. Vivamus egestas laoreet varius. Sed finibus libero nec quam tempor, eget viverra sapien fermentum. Donec dictum eleifend velit, vel elementum ex ultrices non. Vivamus mauris ex, ultrices quis sem vel, dapibus lacinia est. Praesent a sapien id diam venenatis finibus non vel justo. Cras sagittis tortor ac rutrum elementum. Maecenas luctus tempor enim, vitae suscipit quam consequat a. Phasellus feugiat congue sapien commodo cursus. Interdum et malesuada fames ac ante ipsum primis in faucibus.

TODO Second level Headline with Schedule

SCHEDULED: <2020-11-26 jeu.>

Aliquam aliquet sagittis lorem in rutrum. Cras pharetra viverra nisi, at placerat felis malesuada elementum. Donec tincidunt pharetra tincidunt. Praesent id lectus eget erat porttitor placerat non a magna. Cras non mauris ex. Morbi ut eros eu tellus egestas dapibus et et est. Aenean sollicitudin nibh enim, sed pulvinar massa iaculis sit amet. Vivamus egestas laoreet varius. Sed finibus libero nec quam tempor, eget viverra sapien fermentum. Donec dictum eleifend velit, vel elementum ex ultrices non. Vivamus mauris ex, ultrices quis sem vel, dapibus lacinia est. Praesent a sapien id diam venenatis finibus non vel justo. Cras sagittis tortor ac rutrum elementum. Maecenas luctus tempor enim, vitae suscipit quam consequat a. Phasellus feugiat congue sapien commodo cursus. Interdum et malesuada fames ac ante ipsum primis in faucibus.

[B] Second level Headline with a priority

Aliquam aliquet sagittis lorem in rutrum. Cras pharetra viverra nisi, at placerat felis malesuada elementum. Donec tincidunt pharetra tincidunt. Praesent id lectus eget erat porttitor placerat non a magna.

TODO [C] Second level Headline with TODO State

Vivamus egestas laoreet varius. Sed finibus libero nec quam tempor, eget viverra sapien fermentum. Donec dictum eleifend velit, vel elementum ex ultrices non. Vivamus mauris ex, ultrices quis sem vel, dapibus lacinia est. Praesent a sapien id diam venenatis finibus non vel justo.

DONE [A] Second level Headline with DONE State

CLOSED: [2020-11-26 jeu. 18:53] Cras sagittis tortor ac rutrum elementum. Maecenas luctus tempor enim, vitae suscipit quam consequat a. Phasellus feugiat congue sapien commodo cursus. Interdum et malesuada fames ac ante ipsum primis in faucibus.

WAIT Third level Headline with DONE State

CLOSED: [2020-11-26 jeu. 18:53] Cras non mauris ex. Morbi ut eros eu tellus egestas dapibus et et est. Aenean sollicitudin nibh enim, sed pulvinar massa iaculis sit amet.

Blocks

seealso block.

hint block.

definition block.

important block.

exampl block.

exercice block.

question block.

answer block.

summary block.

caution block.

warning block.

Source Blocks

Figures 

  t = 0:0.01:5; % Time [s]
  x = sin(2*pi*t); % Output Voltage [V]
  figure;
  plot(t, x);
  xlabel('Time [s]'); ylabel('Voltage [V]');

/tdehaeze/org-theme/media/commit/f7d3c02b3ccde828878264f9f11e61d9b6469fb7/figs/matlab_fig_example.png

Matlab Figure

Table Result 

  x = 1:10;
  y = x.^2;
$x$ $y = x^2$
1 1
2 4
3 9
4 16
5 25
6 36
7 49
8 64
9 81
10 100
Table caption

Inline Results

Results can be automatically outputed as shown below.

  sqrt(2)
1.4142

  y
y =
     1     4     9    16    25    36    49    64    81   100

Caption and Reference

Captions can be added to code blocks. Moreover, we can link to specific bode blocks (Listing lst:matlab_figure or lst:matlab_svd).

  figure;
  [X,Y,Z] = peaks;
  contour(X,Y,Z,20)
Code to produce a nice contour plot

/tdehaeze/org-theme/media/commit/f7d3c02b3ccde828878264f9f11e61d9b6469fb7/figs/matlab_logo.png

Obtained Contour Plot 
  A = [1 2; 3 4; 5 6; 7 8]
  [U,S,V] = svd(A)
A = [1 2; 3 4; 5 6; 7 8]
A =
     1     2
     3     4
     5     6
     7     8
[U,S,V] = svd(A)
U =
        -0.152483233310201         -0.82264747222566        -0.394501022283829        -0.379959133877596
        -0.349918371807964         -0.42137528768458         0.242796545704357         0.800655879510063
        -0.547353510305727       -0.0201031031435029         0.697909975442776        -0.461434357387336
         -0.74478864880349         0.381169081397575        -0.546205498863303        0.0407376117548695
S =
          14.2690954992615                         0
                         0         0.626828232417541
                         0                         0
                         0                         0
V =
        -0.641423027995072         0.767187395072177
        -0.767187395072177        -0.641423027995072
Code to compute the Singular Value Decomposition

Source Blocks with Line Numbers

The Listing lst:matlab_line_numbers has line numbers as the -n option was used.

Specific lines of codes can be referenced. For instance, the code used to specify the wanted the vertical label is on line /tdehaeze/org-theme/src/commit/f7d3c02b3ccde828878264f9f11e61d9b6469fb7/(test).

  figure;
  plot(t, x)
  xlabel('Time [s]');
  ylabel('Output [V]'); (ref:test)
Specify Labels

Numbering can be continued by using +n option as shown below.

  figure;
  plot(t, u)
  xlabel('Time [s]');
  ylabel('Input [V]');

Images

Figure fig:general_control_names shows the results of the Tikz code of listing lst:tikz_test.

  \begin{tikzpicture}

    % Blocs
    \node[block={2.0cm}{2.0cm}] (P) {$P$};
    \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};

    % Input and outputs coordinates
    \coordinate[] (inputw)  at ($(P.south west)!0.75!(P.north west)$);
    \coordinate[] (inputu)  at ($(P.south west)!0.25!(P.north west)$);
    \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
    \coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);

    % Connections and labels
    \draw[<-] (inputw) node[above left, align=right]{(weighted)\\exogenous inputs\\$w$} -- ++(-1.5, 0);
    \draw[<-] (inputu) -- ++(-0.8, 0) |- node[left, near start, align=right]{control signals\\$u$} (K.west);

    \draw[->] (outputz) node[above right, align=left]{(weighted)\\exogenous outputs\\$z$} -- ++(1.5, 0);
    \draw[->] (outputv) -- ++(0.8, 0) |- node[right, near start, align=left]{sensed output\\$v$} (K.east);
  \end{tikzpicture}
Tikz code that is used to generate Figure fig:general_control_names

/tdehaeze/org-theme/media/commit/f7d3c02b3ccde828878264f9f11e61d9b6469fb7/figs/general_control_names.png

General Control Configuration

Tables

Table tab:table_with_equations shows a table with some mathematics inside.

$N$ $N^2$ $N^3$ $N^4$ $\sqrt n$ $\sqrt[4]N$
1 1 1 1 1 1
2 4 8 16 1.4142136 1.1892071
3 9 27 81 1.7320508 1.3160740
A Simple table with included math
1 2 3 4 5
1 1 2 3 4 5
2 2 4 6 8 10
3 3 6 9 12 15
4 4 8 12 16 20
5 5 10 15 20 25
Table without Head
Classical Control Modern Control Robust Control
Date 1930- 1960- 1980-
Tools Transfer Functions State Space formulation Disk margin
Nyquist Plots Riccati Equations Systems and Signals Norms ($\mathcal{H}_\infty$, $\mathcal{H}_2$ Norms)
Bode Plots Closed Loop Transfer Functions
Phase and Gain margins Weighting Functions
Control Architectures Proportional, Integral, Derivative Full State Feedback General Control Configuration
Leads, Lags LQR, LQG
Kalman Filters
Advantages Study Stability Automatic Synthesis Automatic Synthesis
Simple MIMO MIMO
Natural Optimization Problem Optimization Problem
Guaranteed Robustness
Easy specification of performances
Disadvantages Manual Method No Guaranteed Robustness Required knowledge of specific tools
Only SISO Difficult Rejection of Perturbations Need a reasonably good model of the system
Table with multiples groups

Details

Below is some content hidden until you click the bar.

Hiden Part

Almost anything can be put here for instance this table below.

$N$ $N^2$ $N^3$ $N^4$ $\sqrt n$ $\sqrt[4]N$
1 1 1 1 1 1
2 4 8 16 1.4142136 1.1892071
3 9 27 81 1.7320508 1.3160740
A Simple table with included math

This details blocks can even be put in other blocks are shown below.

Answer

It is approximately 12,742 km

What is the approximate diameter of the earth?

Answer

It is approximately 12,742 km

Videos

yt:SzA2YODtgK4

Bibliography

bibliographystyle:unsrt bibliography:ref.bib

Footnotes   ignore

1

A long foot note. Lorem ipsum dolor sit amet, consectetur adipiscing elit. With a reference to Figure fig:general_control_names.

2

An other footnote.