Rework complementary filter control

2025-04-07 23:14:56 +02:00 · 2025-04-07 23:14:56 +02:00 · 5deb60043a
commit 5deb60043a
parent 1801d467bd
72 changed files with 8141 additions and 1543 deletions
--- a/figs/detail_control_cf_analytical_effect_alpha.pdf
+++ b/figs/detail_control_cf_analytical_effect_alpha.pdf
--- a/figs/detail_control_cf_analytical_effect_alpha.png
+++ b/figs/detail_control_cf_analytical_effect_alpha.png
--- a/figs/detail_control_cf_analytical_effect_w0.pdf
+++ b/figs/detail_control_cf_analytical_effect_w0.pdf
--- a/figs/detail_control_cf_analytical_effect_w0.png
+++ b/figs/detail_control_cf_analytical_effect_w0.png
--- a/figs/detail_control_cf_arch.pdf
+++ b/figs/detail_control_cf_arch.pdf
--- a/figs/detail_control_cf_arch.png
+++ b/figs/detail_control_cf_arch.png
--- a/figs/detail_control_cf_arch.svg
+++ b/figs/detail_control_cf_arch.svg
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--- a/figs/detail_control_cf_arch_eq.pdf
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--- a/figs/detail_control_cf_bode_Kfb.pdf
+++ b/figs/detail_control_cf_bode_Kfb.pdf
--- a/figs/detail_control_cf_bode_Kfb.png
+++ b/figs/detail_control_cf_bode_Kfb.png
--- a/figs/detail_control_cf_bode_plot_loop_gain_robustness.pdf
+++ b/figs/detail_control_cf_bode_plot_loop_gain_robustness.pdf
--- a/figs/detail_control_cf_bode_plot_loop_gain_robustness.png
+++ b/figs/detail_control_cf_bode_plot_loop_gain_robustness.png
--- a/figs/detail_control_cf_bode_plot_mech_sys.pdf
+++ b/figs/detail_control_cf_bode_plot_mech_sys.pdf
--- a/figs/detail_control_cf_bode_plot_mech_sys.png
+++ b/figs/detail_control_cf_bode_plot_mech_sys.png
--- a/figs/detail_control_cf_hinf_filters_result_weights.pdf
+++ b/figs/detail_control_cf_hinf_filters_result_weights.pdf
--- a/figs/detail_control_cf_hinf_filters_result_weights.png
+++ b/figs/detail_control_cf_hinf_filters_result_weights.png
--- a/figs/detail_control_cf_nyquist_robustness.pdf
+++ b/figs/detail_control_cf_nyquist_robustness.pdf
--- a/figs/detail_control_cf_nyquist_robustness.png
+++ b/figs/detail_control_cf_nyquist_robustness.png
--- a/figs/detail_control_cf_nyquist_uncertainty.pdf
+++ b/figs/detail_control_cf_nyquist_uncertainty.pdf
--- a/figs/detail_control_cf_nyquist_uncertainty.png
+++ b/figs/detail_control_cf_nyquist_uncertainty.png
--- a/figs/detail_control_cf_robust_perf.pdf
+++ b/figs/detail_control_cf_robust_perf.pdf
--- a/figs/detail_control_cf_robust_perf.png
+++ b/figs/detail_control_cf_robust_perf.png
--- a/figs/detail_control_cf_specs_S_T.pdf
+++ b/figs/detail_control_cf_specs_S_T.pdf
--- a/figs/detail_control_cf_specs_S_T.png
+++ b/figs/detail_control_cf_specs_S_T.png
--- a/figs/detail_control_cf_test_model.pdf
+++ b/figs/detail_control_cf_test_model.pdf
--- a/figs/detail_control_cf_test_model.png
+++ b/figs/detail_control_cf_test_model.png
--- a/figs/detail_control_decoupling_control_jacobian.pdf
+++ b/figs/detail_control_decoupling_control_jacobian.pdf
--- a/figs/detail_control_decoupling_control_jacobian.png
+++ b/figs/detail_control_decoupling_control_jacobian.png
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--- a/figs/detail_control_decoupling_control_jacobian_CoK.pdf
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--- a/figs/detail_control_decoupling_model_test.pdf
+++ b/figs/detail_control_decoupling_model_test.pdf
--- a/figs/detail_control_decoupling_model_test_CoK.pdf
+++ b/figs/detail_control_decoupling_model_test_CoK.pdf
--- a/figs/detail_control_decoupling_model_test_CoK.png
+++ b/figs/detail_control_decoupling_model_test_CoK.png
--- a/figs/detail_control_decoupling_model_test_CoM.pdf
+++ b/figs/detail_control_decoupling_model_test_CoM.pdf
--- a/figs/detail_control_decoupling_model_test_alt.pdf
+++ b/figs/detail_control_decoupling_model_test_alt.pdf
--- a/figs/detail_control_decoupling_model_test_modal.pdf
+++ b/figs/detail_control_decoupling_model_test_modal.pdf
--- a/figs/detail_control_decoupling_strut_model.pdf
+++ b/figs/detail_control_decoupling_strut_model.pdf
--- a/figs/detail_control_decoupling_svd.pdf
+++ b/figs/detail_control_decoupling_svd.pdf
--- a/figs/detail_control_decoupling_svd.png
+++ b/figs/detail_control_decoupling_svd.png
--- a/figs/detail_control_decoupling_svd.svg
+++ b/figs/detail_control_decoupling_svd.svg
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+<use xlink:href="#glyph-0-1" x="30.86812" y="38.932219"/>
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-<use xlink:href="#glyph-2-3" x="40.876558" y="35.330814"/>
+<use xlink:href="#glyph-2-3" x="40.129586" y="35.330814"/>
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+<use xlink:href="#glyph-3-0" x="46.331358" y="35.330814"/>
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--- a/figs/inkscape/convert_svg.sh
+++ b/figs/inkscape/convert_svg.sh
@ -0,0 +1,18 @@
 #!/bin/bash
 # Directory containing SVG files
 INPUT_DIR="."
 # Loop through all SVG files in the directory
 for svg_file in "$INPUT_DIR"/*.svg; do
    # Check if there are SVG files in the directory
    if [ -f "$svg_file" ]; then
        # Output PDF file name
        pdf_file="../${svg_file%.svg}.pdf"
        png_file="../${svg_file%.svg}"
        # Convert SVG to PDF using Inkscape
        inkscape "$svg_file" --export-filename="$pdf_file" && \
            pdftocairo -png -singlefile -cropbox "$pdf_file" "$png_file"
    fi
 done
--- a/figs/inkscape/detail_control_cf_nyquist_uncertainty.svg
+++ b/figs/inkscape/detail_control_cf_nyquist_uncertainty.svg
--- a/figs/inkscape/detail_control_cf_specs_S_T.svg
+++ b/figs/inkscape/detail_control_cf_specs_S_T.svg
--- a/figs/inkscape/detail_control_cf_test_model.svg
+++ b/figs/inkscape/detail_control_cf_test_model.svg
--- a/figs/inkscape/detail_control_decoupling_model_test.svg
+++ b/figs/inkscape/detail_control_decoupling_model_test.svg
--- a/figs/inkscape/detail_control_decoupling_model_test_CoK.svg
+++ b/figs/inkscape/detail_control_decoupling_model_test_CoK.svg
@ -6,7 +6,7 @@
   version="1.1"
   id="svg1203"
   inkscape:version="1.4.1 (93de688d07, 2025-03-30)"
-   sodipodi:docname="detail_control_model_test_CoK.svg"
+   sodipodi:docname="detail_control_decoupling_model_test_CoK.svg"
   inkscape:export-filename="/home/thomas/Cloud/thesis/matlab/svd-control/figs/gravimeter_model.png"
   inkscape:export-xdpi="252"
   inkscape:export-ydpi="252"
@ -26,16 +26,16 @@
     inkscape:pageopacity="0.0"
     inkscape:pageshadow="2"
     inkscape:zoom="4"
-     inkscape:cx="71.125"
+     inkscape:cx="71"
     inkscape:cy="98.75"
     inkscape:document-units="mm"
     inkscape:current-layer="layer1"
     inkscape:document-rotation="0"
     showgrid="false"
-     inkscape:window-width="2534"
+     inkscape:window-width="2560"
-     inkscape:window-height="1367"
+     inkscape:window-height="1440"
-     inkscape:window-x="11"
+     inkscape:window-x="0"
-     inkscape:window-y="60"
+     inkscape:window-y="0"
     inkscape:window-maximized="1"
     inkscape:snap-midpoints="true"
     inkscape:showpageshadow="2"
@ -2217,6 +2217,16 @@
       y="20.428562"
       inkscape:export-xdpi="252"
       inkscape:export-ydpi="252" />
    <rect
       style="fill:#faddd1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.264999;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
       id="rect1"
       width="28.12863"
       height="35.424496"
       x="52.79174"
       y="15.164247"
       inkscape:export-xdpi="252"
       inkscape:export-ydpi="252"
       transform="rotate(4.6075474)" />
    <path
       style="font-variation-settings:normal;opacity:1;vector-effect:none;fill:#000000;fill-opacity:0.2;stroke:#000000;stroke-width:0.264999;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;-inkscape-stroke:none;stop-color:#000000;stop-opacity:1"
       d="m 41.521197,64.330608 h 36.067752 v 2.190475 H 39.330722 v -23.993507 0 h 2.190475 v 21.803032"
--- a/figs/inkscape/detail_control_decoupling_model_test_CoM.svg
+++ b/figs/inkscape/detail_control_decoupling_model_test_CoM.svg
--- a/figs/inkscape/detail_control_decoupling_model_test_alt.svg
+++ b/figs/inkscape/detail_control_decoupling_model_test_alt.svg
--- a/figs/inkscape/detail_control_decoupling_model_test_modal.svg
+++ b/figs/inkscape/detail_control_decoupling_model_test_modal.svg
--- a/figs/inkscape/detail_control_decoupling_strut_model.svg
+++ b/figs/inkscape/detail_control_decoupling_strut_model.svg
--- a/matlab/src/plotMagUncertainty.m
+++ b/matlab/src/plotMagUncertainty.m
@ -1,42 +1,42 @@
-  function [p] = plotMagUncertainty(W, freqs, args)
+function [p] = plotMagUncertainty(W, freqs, args)
-  % plotMagUncertainty -
+% plotMagUncertainty -
-  %
+%
-  % Syntax: [p] = plotMagUncertainty(W, freqs, args)
+% Syntax: [p] = plotMagUncertainty(W, freqs, args)
-  %
+%
-  % Inputs:
+% Inputs:
-  %    - W     - Multiplicative Uncertainty Weight
+%    - W     - Multiplicative Uncertainty Weight
-  %    - freqs - Frequency Vector [Hz]
+%    - freqs - Frequency Vector [Hz]
-  %    - args  - Optional Arguments:
+%    - args  - Optional Arguments:
-  %      - G
+%      - G
-  %      - color_i
+%      - color_i
-  %      - opacity
+%      - opacity
-  %
+%
-  % Outputs:
+% Outputs:
-  %    - p - Plot Handle
+%    - p - Plot Handle
-      arguments
+    arguments
-      W
+        W
-      freqs double {mustBeNumeric, mustBeNonnegative}
+        freqs double {mustBeNumeric, mustBeNonnegative}
-      args.G = tf(1)
+        args.G = tf(1)
-      args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
+        args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
-      args.opacity (1,1) double {mustBeNumeric, mustBeNonnegative} = 0.3
+        args.opacity (1,1) double {mustBeNumeric, mustBeNonnegative} = 0.3
-      args.DisplayName char = ''
+        args.DisplayName char = ''
-  end
+    end
-  % Get defaults colors
+    % Get defaults colors
-  colors = get(groot, 'defaultAxesColorOrder');
+    colors = get(groot, 'defaultAxesColorOrder');
-  p = patch([freqs flip(freqs)], ...
+    p = patch([freqs flip(freqs)], ...
-            [abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*(1 + abs(squeeze(freqresp(W, freqs, 'Hz')))); ...
+              [abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*(1 + abs(squeeze(freqresp(W, freqs, 'Hz')))); ...
-             flip(abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*max(1 - abs(squeeze(freqresp(W, freqs, 'Hz'))), 1e-6))], 'w', ...
+               flip(abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*max(1 - abs(squeeze(freqresp(W, freqs, 'Hz'))), 1e-6))], 'w', ...
-            'DisplayName', args.DisplayName);
+              'DisplayName', args.DisplayName);
-  if args.color_i == 0
+    if args.color_i == 0
-      p.FaceColor = [0; 0; 0];
+        p.FaceColor = [0; 0; 0];
-  else
+    else
-      p.FaceColor = colors(args.color_i, :);
+        p.FaceColor = colors(args.color_i, :);
-  end
+    end
-  p.EdgeColor = 'none';
+    p.EdgeColor = 'none';
-  p.FaceAlpha = args.opacity;
+    p.FaceAlpha = args.opacity;
-   end
+end
--- a/matlab/src/plotPhaseUncertainty.m
+++ b/matlab/src/plotPhaseUncertainty.m
@ -1,47 +1,52 @@
-  function [p] = plotPhaseUncertainty(W, freqs, args)
+function [p] = plotPhaseUncertainty(W, freqs, args)
-  % plotPhaseUncertainty -
+% plotPhaseUncertainty -
-  %
+%
-  % Syntax: [p] = plotPhaseUncertainty(W, freqs, args)
+% Syntax: [p] = plotPhaseUncertainty(W, freqs, args)
-  %
+%
-  % Inputs:
+% Inputs:
-  %    - W     - Multiplicative Uncertainty Weight
+%    - W     - Multiplicative Uncertainty Weight
-  %    - freqs - Frequency Vector [Hz]
+%    - freqs - Frequency Vector [Hz]
-  %    - args  - Optional Arguments:
+%    - args  - Optional Arguments:
-  %      - G
+%      - G
-  %      - color_i
+%      - color_i
-  %      - opacity
+%      - opacity
-  %
+%
-  % Outputs:
+% Outputs:
-  %    - p - Plot Handle
+%    - p - Plot Handle
-  arguments
+    arguments
-      W
+        W
-      freqs double {mustBeNumeric, mustBeNonnegative}
+        freqs double {mustBeNumeric, mustBeNonnegative}
-      args.G = tf(1)
+        args.G = tf(1)
-      args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
+        args.unwrap    logical {mustBeNumericOrLogical} = false
-      args.opacity (1,1) double {mustBeNumeric, mustBePositive} = 0.3
+        args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
-      args.DisplayName char = ''
+        args.opacity (1,1) double {mustBeNumeric, mustBePositive} = 0.3
-  end
+        args.DisplayName char = ''
    end
-  % Get defaults colors
+    % Get defaults colors
-  colors = get(groot, 'defaultAxesColorOrder');
+    colors = get(groot, 'defaultAxesColorOrder');
-  % Compute Phase Uncertainty
+    % Compute Phase Uncertainty
-  Dphi = 180/pi*asin(abs(squeeze(freqresp(W, freqs, 'Hz'))));
+    Dphi = 180/pi*asin(abs(squeeze(freqresp(W, freqs, 'Hz'))));
-  Dphi(abs(squeeze(freqresp(W, freqs, 'Hz'))) > 1) = 360;
+    Dphi(abs(squeeze(freqresp(W, freqs, 'Hz'))) > 1) = 360;
-  % Compute Plant Phase
+    % Compute Plant Phase
-  G_ang = 180/pi*angle(squeeze(freqresp(args.G, freqs, 'Hz')));
+    if args.unwrap
        G_ang = 180/pi*unwrap(angle(squeeze(freqresp(args.G, freqs, 'Hz'))));
    else
        G_ang = 180/pi*angle(squeeze(freqresp(args.G, freqs, 'Hz')));
    end
-  p = patch([freqs flip(freqs)], [G_ang+Dphi; flip(G_ang-Dphi)], 'w', ...
+    p = patch([freqs flip(freqs)], [G_ang+Dphi; flip(G_ang-Dphi)], 'w', ...
-            'DisplayName', args.DisplayName);
+              'DisplayName', args.DisplayName);
-  if args.color_i == 0
+    if args.color_i == 0
-      p.FaceColor = [0; 0; 0];
+        p.FaceColor = [0; 0; 0];
-  else
+    else
-      p.FaceColor = colors(args.color_i, :);
+        p.FaceColor = colors(args.color_i, :);
-  end
+    end
-  p.EdgeColor = 'none';
+    p.EdgeColor = 'none';
-  p.FaceAlpha = args.opacity;
+    p.FaceAlpha = args.opacity;
-  end
+end
--- a/nass-control.org
+++ b/nass-control.org
--- a/nass-control.pdf
+++ b/nass-control.pdf
--- a/nass-control.tex
+++ b/nass-control.tex
--- a/preamble.tex
+++ b/preamble.tex
@ -14,6 +14,22 @@
 \usepackage{amssymb}
 \usepackage{amsmath}
 \usepackage{cases}
 \usepackage{empheq}
 \usepackage[binary-units=true]{siunitx}
 \sisetup{%
  detect-all           = true,
  detect-family        = true,
  detect-mode          = true,
  detect-shape         = true,
  detect-weight        = true,
  detect-inline-weight = math,
 }
 \DeclareSIUnit\px{px}
 \DeclareSIUnit\rms{rms}
 \makeindex
 \makeglossaries