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+#+TITLE:     Control in a rotating frame
+#+AUTHOR:    Dehaeze Thomas
+#+EMAIL:     dehaeze.thomas@gmail.com
+#+DATE:      {{{time(%Y-%m-%d)}}}
+#+DESCRIPTION: Course about Optimal and Robust Control
+#+KEYWORDS:  control optimal robust lqr lqg hinfinity
+#+LANGUAGE:  en
+#+STARTUP: beamer
+#+LaTeX_CLASS: clean-beamer
+#+LaTeX_CLASS_OPTIONS: [t]
+#+OPTIONS:   H:2
+#+OPTIONS:   num:t toc:t ::t |:t ^:{} -:t f:t *:t <:t
+#+SELECT_TAGS: export
+#+EXCLUDE_TAGS: noexport
+#+COLUMNS: %20ITEM %13BEAMER_env(Env) %6BEAMER_envargs(Args) %4BEAMER_col(Col) %7BEAMER_extra(Extra)
+#+latex_header: \AtBeginSection[]{\begin{frame}<beamer>\frametitle{Topic}\tableofcontents[currentsection]\end{frame}}
+
+* Simscape Model
+#+name: fig:simscape
+#+caption: Screen of simscape multibody model
+#+attr_latex: :float t :width 0.7\linewidth
+[[./Figures/simscape.png]]
+
+* Simscape Model
+#+name: fig:simulink_ctrl
+#+caption: Simulink Blocks
+#+attr_latex: :float t :width 0.9\linewidth
+[[./Figures/simulink_ctrl.png]]
+
+* Identification in the rotating frame
+The rotation speed increase the coupling between the rotating actuators and sensors (figure ref:fig:G_u_v).
+
+#+name: fig:G_u_v
+#+caption: Transfer function from forces to displacement in the rotating frame
+#+attr_latex: :float t
+[[./Figures/G_u_v.pdf]]
+
+* Identification in the cartesian frame
+#+name: fig:G_x_y
+#+caption: Plant from force to displacement in the cartesian frame
+#+attr_latex: :float t :width 0.8\linewidth
+[[./Figures/G_x_y.pdf]]
+
+* Identification in the cartesian frame
+#+name: fig:G_x_y_e
+#+caption: Plant from force to displacement in the cartesian frame with small angle estimation error
+#+attr_latex: :float t :width 0.8\linewidth
+[[./Figures/G_x_y_e.pdf]]
+
+* Control result
+#+name: fig:D_x_y
+#+caption: Control result with a simple PID
+#+attr_latex: :float t :width 0.8\linewidth
+[[./Figures/D_x_y.pdf]]
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