commit 6eac907a4a42c21c22c71288e0f8fba527b3ede6 Author: Thomas Dehaeze Date: Fri Jan 18 17:18:02 2019 +0100 Initial Commit diff --git a/Figures/control_measure_fixed_2dof.png b/Figures/control_measure_fixed_2dof.png new file mode 100644 index 0000000..2f3eb26 Binary files /dev/null and b/Figures/control_measure_fixed_2dof.png differ diff --git a/Figures/control_measure_rotating_2dof.png b/Figures/control_measure_rotating_2dof.png new file mode 100644 index 0000000..a69c346 Binary files /dev/null and b/Figures/control_measure_rotating_2dof.png differ diff --git a/Figures/rotating_frame_2dof.png b/Figures/rotating_frame_2dof.png new file mode 100644 index 0000000..db20e51 Binary files /dev/null and b/Figures/rotating_frame_2dof.png differ diff --git a/Figures/simscape.png b/Figures/simscape.png new file mode 100644 index 0000000..d3c79b6 Binary files /dev/null and b/Figures/simscape.png differ diff --git a/Figures/simulink_ctrl.png b/Figures/simulink_ctrl.png new file mode 100644 index 0000000..07099a6 Binary files /dev/null and b/Figures/simulink_ctrl.png differ diff --git a/css/htmlize.css b/css/htmlize.css new file mode 100644 index 0000000..0b32a03 --- /dev/null +++ b/css/htmlize.css @@ -0,0 +1,145 @@ +.org-bold { /* bold */ font-weight: bold; } +.org-bold-italic { /* bold-italic */ font-weight: bold; font-style: italic; } +.org-buffer-menu-buffer { /* buffer-menu-buffer */ font-weight: bold; } +.org-builtin { /* font-lock-builtin-face */ color: #7a378b; } +.org-button { /* button */ text-decoration: underline; } +.org-calendar-today { /* calendar-today */ text-decoration: underline; } +.org-change-log-acknowledgement { /* change-log-acknowledgement */ color: #b22222; } +.org-change-log-conditionals { /* change-log-conditionals */ color: #a0522d; } +.org-change-log-date { /* change-log-date */ color: #8b2252; } +.org-change-log-email { /* change-log-email */ color: #a0522d; } +.org-change-log-file { /* change-log-file */ color: #0000ff; } +.org-change-log-function { /* change-log-function */ color: #a0522d; } +.org-change-log-list { /* change-log-list */ color: #a020f0; } +.org-change-log-name { /* change-log-name */ color: #008b8b; } +.org-comint-highlight-input { /* comint-highlight-input */ font-weight: bold; } +.org-comint-highlight-prompt { /* comint-highlight-prompt */ color: #00008b; } +.org-comment { /* font-lock-comment-face */ color: #999988; font-style: italic; } +.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; } +.org-completions-annotations { /* completions-annotations */ font-style: italic; } +.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; } +.org-completions-first-difference { /* completions-first-difference */ font-weight: bold; } +.org-constant { /* font-lock-constant-face */ color: #008b8b; } +.org-diary { /* diary */ color: #ff0000; } +.org-diff-context { /* diff-context */ color: #7f7f7f; } +.org-diff-file-header { /* diff-file-header */ background-color: #b3b3b3; font-weight: bold; } +.org-diff-function { /* diff-function */ background-color: #cccccc; } +.org-diff-header { /* diff-header */ background-color: #cccccc; } +.org-diff-hunk-header { /* diff-hunk-header */ background-color: #cccccc; } +.org-diff-index { /* diff-index */ background-color: #b3b3b3; font-weight: bold; } +.org-diff-nonexistent { /* diff-nonexistent */ background-color: #b3b3b3; font-weight: bold; } +.org-diff-refine-change { /* diff-refine-change */ background-color: #d9d9d9; } +.org-dired-directory { /* dired-directory */ color: #0000ff; } +.org-dired-flagged { /* dired-flagged */ color: #ff0000; font-weight: bold; } +.org-dired-header { /* dired-header */ color: #228b22; } +.org-dired-ignored { /* dired-ignored */ color: #7f7f7f; } +.org-dired-mark { /* dired-mark */ color: #008b8b; } +.org-dired-marked { /* dired-marked */ color: #ff0000; font-weight: bold; } +.org-dired-perm-write { /* dired-perm-write */ color: #b22222; } +.org-dired-symlink { /* dired-symlink */ color: #a020f0; } +.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; } +.org-doc { /* font-lock-doc-face */ color: #8b2252; } +.org-escape-glyph { /* escape-glyph */ color: #a52a2a; } +.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; } +.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; } +.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; } +.org-fringe { /* fringe */ background-color: #f2f2f2; } +.org-function-name { /* font-lock-function-name-face */ color: teal; } +.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; } +.org-help-argument-name { /* help-argument-name */ font-style: italic; } +.org-highlight { /* highlight */ background-color: #b4eeb4; } +.org-holiday { /* holiday */ background-color: #ffc0cb; } +.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; } +.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; } +.org-italic { /* italic */ font-style: italic; } +.org-keyword { /* font-lock-keyword-face */ color: #0086b3; } +.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; } +.org-link { /* link */ color: #0000ff; text-decoration: underline; } +.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; } +.org-log-edit-header { /* log-edit-header */ color: #a020f0; } +.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; } +.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; } +.org-match { /* match */ background-color: #ffff00; } +.org-next-error { /* next-error */ background-color: #eedc82; } +.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; } +.org-org-archived { /* org-archived */ color: #7f7f7f; } +.org-org-block { /* org-block */ color: #7f7f7f; } +.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; } +.org-org-block-end-line { /* org-block-end-line */ color: #b22222; } +.org-org-checkbox { /* org-checkbox */ font-weight: bold; } +.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; } +.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; } +.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; } +.org-org-code { /* org-code */ color: #7f7f7f; } +.org-org-column { /* org-column */ background-color: #e5e5e5; } +.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; } +.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; } +.org-org-document-info { /* org-document-info */ color: #191970; } +.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; } +.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; } +.org-org-done { /* org-done */ color: #228b22; font-weight: bold; } +.org-org-drawer { /* org-drawer */ color: #0000ff; } +.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; } +.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; } +.org-org-formula { /* org-formula */ color: #b22222; } +.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; } +.org-org-hide { /* org-hide */ color: #ffffff; } +.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; } +.org-org-level-1 { /* org-level-1 */ color: #0000ff; } +.org-org-level-2 { /* org-level-2 */ color: #a0522d; } +.org-org-level-3 { /* org-level-3 */ color: #a020f0; } +.org-org-level-4 { /* org-level-4 */ color: #b22222; } +.org-org-level-5 { /* org-level-5 */ color: #228b22; } +.org-org-level-6 { /* org-level-6 */ color: #008b8b; } +.org-org-level-7 { /* org-level-7 */ color: #7a378b; } +.org-org-level-8 { /* org-level-8 */ color: #8b2252; } +.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; } +.org-org-meta-line { /* org-meta-line */ color: #b22222; } +.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; } +.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; } +.org-org-quote { /* org-quote */ color: #7f7f7f; } +.org-org-scheduled { /* org-scheduled */ color: #006400; } +.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; } +.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; } +.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; } +.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; } +.org-org-table { /* org-table */ color: #0000ff; } +.org-org-tag { /* org-tag */ font-weight: bold; } +.org-org-target { /* org-target */ text-decoration: underline; } +.org-org-time-grid { /* org-time-grid */ color: #b8860b; } +.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; } +.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; } +.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; } +.org-org-verse { /* org-verse */ color: #7f7f7f; } +.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; } +.org-outline-1 { /* outline-1 */ color: #0000ff; } +.org-outline-2 { /* outline-2 */ color: #a0522d; } +.org-outline-3 { /* outline-3 */ color: #a020f0; } +.org-outline-4 { /* outline-4 */ color: #b22222; } +.org-outline-5 { /* outline-5 */ color: #228b22; } +.org-outline-6 { /* outline-6 */ color: #008b8b; } +.org-outline-7 { /* outline-7 */ color: #7a378b; } +.org-outline-8 { /* outline-8 */ color: #8b2252; } +.org-preprocessor { /* font-lock-preprocessor-face */ color: #7a378b; } +.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; } +.org-regexp-grouping-backslash { /* font-lock-regexp-grouping-backslash */ font-weight: bold; } +.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; } +.org-region { /* region */ background-color: #eedc82; } +.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; } +.org-shadow { /* shadow */ color: #7f7f7f; } +.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; } +.org-show-paren-mismatch { /* show-paren-mismatch */ color: #ffffff; background-color: #a020f0; } +.org-string { /* font-lock-string-face */ color: #dd1144; } +.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; } +.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; } +.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; } +.org-type { /* font-lock-type-face */ color: #228b22; } +.org-underline { /* underline */ text-decoration: underline; } +.org-variable-name { /* font-lock-variable-name-face */ color: teal; } +.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; } +.org-widget-button { /* widget-button */ font-weight: bold; } +.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; } +.org-widget-documentation { /* widget-documentation */ color: #006400; } +.org-widget-field { /* widget-field */ background-color: #d9d9d9; } +.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; } +.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; } diff --git a/css/readtheorg.css b/css/readtheorg.css new file mode 100644 index 0000000..58e8788 --- /dev/null +++ b/css/readtheorg.css @@ -0,0 +1,1095 @@ +@import url(https://fonts.googleapis.com/css?family=Lato:400,700,400italic,700italic|Roboto+Slab:400,700|Inconsolata:400,700); +@import url(https://maxcdn.bootstrapcdn.com/font-awesome/4.3.0/css/font-awesome.min.css); + +h1,h2,h3,h4,h5,h6,legend{ + font-family:"Roboto Slab","ff-tisa-web-pro","Georgia",Arial,sans-serif; + font-weight:700; + margin-top:0; +} + +h1{ + font-size:175%; +} + +.subtitle{ + font-size:95%; /* of h1 */ +} + +h2{ + font-size:150%; +} + +h3{ + font-size:125%; +} + +h4{ + font-size:115%; +} + +h5{ + font-size:110%; +} + +h6{ + font-size:100%; +} + +h4,h5,h6{ + color:#2980B9; + font-weight:300; +} + +html{ + -ms-text-size-adjust:100%; + -webkit-text-size-adjust:100%; + font-size:100%; + height:100%; + overflow-x:hidden; +} + +body{ + background:#edf0f2; + color:#404040; + font-family:"Lato","proxima-nova","Helvetica Neue",Arial,sans-serif; + font-weight:normal; + margin:0; + min-height:100%; + overflow-x:hidden; +} + +#content{ + background:#fcfcfc; + height:100%; + margin-left:300px; + /* margin:auto; */ + max-width:800px; + min-height:100%; + padding:1.618em 3.236em; +} + +p{ + font-size:16px; + line-height:24px; + margin:0px 0px 24px 0px; +} + +b,strong{ + font-weight:bold} + +blockquote{ + background-color: #F0F0F0; + border-left:5px solid #CCCCCC; + font-style:italic; + line-height:24px; + margin:0px 0px 24px 0px; + /* margin-left:24px; */ + padding: 6px 20px; +} + +ul,ol,dl{ + line-height:24px; + list-style-image:none; + /* list-style:none; */ + margin:0px 0px 24px 0px; + padding:0; +} + +li{ + margin-left: 24px; +} + +dd{ + margin:0; +} + +#content .section ul,#content .toctree-wrapper ul,article ul{ + list-style:disc; + line-height:24px; + margin-bottom:24px} + +#content .section ul li,#content .toctree-wrapper ul li,article ul li{ + list-style:disc; + margin-left:24px} + +#content .section ul li p:last-child,#content .toctree-wrapper ul li p:last-child,article ul li p:last-child{ + margin-bottom:0} + +#content .section ul li ul,#content .toctree-wrapper ul li ul,article ul li ul{ + margin-bottom:0} + +#content .section ul li li,#content .toctree-wrapper ul li li,article ul li li{ + list-style:circle} + +#content .section ul li li li,#content .toctree-wrapper ul li li li,article ul li li li{ + list-style:square} + +#content .section ul li ol li,#content .toctree-wrapper ul li ol li,article ul li ol li{ + list-style:decimal} + +#content .section ol,#content ol,article ol{ + list-style:decimal; + line-height:24px; + margin-bottom:24px} + +#content .section ol li,#content ol li,article ol li{ + list-style:decimal; + margin-left:24px} + +#content .section ol li p:last-child,#content ol li p:last-child,article ol li p:last-child{ + margin-bottom:0} + +#content .section ol li ul,#content ol li ul,article ol li ul{ + margin-bottom:0} + +#content .section ol li ul li,#content ol li ul li,article ol li ul li{ + list-style:disc} + +dl dt{ + font-weight:bold; +} + +dl p,dl table,dl ul,dl ol{ + margin-bottom:12px !important; +} + +dl dd{ + margin:0 0 12px 24px; +} + +@media print{ + .codeblock,pre.src{ + white-space:pre.src-wrap} +} + +@media print{ + html,body,section{ + background:none !important} + + *{ + box-shadow:none !important; + text-shadow:none !important; + filter:none !important; + -ms-filter:none !important} + + a,a:visited{ + text-decoration:underline} + + pre.src,blockquote{ + page-break-inside:avoid} + + thead{ + display:table-header-group} + + tr,img{ + page-break-inside:avoid} + + img{ + max-width:100% !important} + + @page{ + margin:0.5cm} + + p,h2,h3{ + orphans:3; + widows:3} + + h2,h3{ + page-break-after:avoid} +} + +@media print{ + #postamble{ + display:none} + + #content{ + margin-left:0} +} + +@media print{ + #table-of-contents{ + display:none} + + @page{ + size: auto; + margin: 25mm 25mm 25mm 25mm;} + + body { + margin: 0px;} +} + +@media screen and (max-width: 768px){ +} + +@media only screen and (max-width: 480px){ +} + +@media screen and (max-width: 768px){ + .tablet-hide{ + display:none} +} + +@media screen and (max-width: 480px){ + .mobile-hide{ + display:none} +} + +@media screen and (max-width: 480px){ +} + +@media screen and (max-width: 768px){ + #content{ + margin-left:0} + + #content #content{ + padding:1.618em} + + #content.shift{ + position:fixed; + min-width:100%; + left:85%; + top:0; + height:100%; + overflow:hidden} +} + +@media screen and (min-width: 1400px){ + #content{ + background:rgba(0,0,0,0.05)} + + #content{ + background:#fcfcfc} +} + +@media screen and (max-width: 768px){ + #copyright{ + width:85%; + display:none} + + #copyright.shift{ + display:block} + + img{ + width:100%; + height:auto} +} + +@media screen and (max-width: 480px){ + #content .sidebar{ + width:100%} +} + +code{ + background:#fff; + border:solid 1px #e1e4e5; + /* color:#000; for clickable code */ + font-family:Consolas,"Andale Mono WT","Andale Mono","Lucida Console","Lucida Sans Typewriter","DejaVu Sans Mono","Bitstream Vera Sans Mono","Liberation Mono","Nimbus Mono L",Monaco,"Courier New",Courier,monospace; + font-size:75%; + max-width:100%; + overflow-x:auto; + padding:0 5px; + white-space:nowrap; +} + +.codeblock-example{ + border:1px solid #e1e4e5; + border-bottom:none; + padding:24px; + padding-top:48px; + font-weight:500; + background:#fff; + position:relative} + +.codeblock-example:after{ + content:"Example"; + position:absolute; + top:0px; + left:0px; + background:#9B59B6; + color:#fff; + padding:6px 12px} + +.codeblock-example.prettyprint-example-only{ + border:1px solid #e1e4e5; + margin-bottom:24px} + +.codeblock,pre.src,#content .literal-block{ + border:1px solid #e1e4e5; + padding:12px; + overflow-x:auto; + background:#fff; + margin:1px 0 24px 0} + +pre.src{ + /* color:#404040; */ + display:block; + font-family:Consolas,"Andale Mono WT","Andale Mono","Lucida Console","Lucida Sans Typewriter","DejaVu Sans Mono","Bitstream Vera Sans Mono","Liberation Mono","Nimbus Mono L",Monaco,"Courier New",Courier,monospace; + font-size:12px; + line-height:1.5; + margin:1px 0px 24px 0px; + overflow:auto; + padding:12px; + white-space:pre; +} + +.example{ + background:#f3f6f6; + border:1px solid #e1e4e5; + color:#404040; + font-size: 12px; + line-height: 1.5; + margin-bottom:24px; + padding:12px; +} + +table{ + border-collapse:collapse; + border-spacing:0; + empty-cells:show; + margin-bottom:24px; + border-bottom:1px solid #e1e4e5; +} + +td{ + vertical-align:top} + +table td,table th{ + font-size:90%; + margin:0; + overflow:visible; + padding:8px 16px; + background-color:white; + border:1px solid #e1e4e5; +} + +table thead th{ + font-weight:bold; + border-top:3px solid #e1e4e5; + border-bottom:1px solid #e1e4e5; +} + +table caption{ + color:#000; + font:italic 85%/1 arial,sans-serif; + padding:1em 0; +} + +table tr:nth-child(2n-1) td{ + background-color:#f3f6f6; +} + +table tr:nth-child(2n) td{ + background-color:white; +} + +.figure p{ + color:#000; + font:italic 85%/1 arial,sans-serif; + padding:1em 0; +} + +.rotate-90{ + -webkit-transform:rotate(90deg); + -moz-transform:rotate(90deg); + -ms-transform:rotate(90deg); + -o-transform:rotate(90deg); + transform:rotate(90deg); +} + +.rotate-270{ + -webkit-transform:rotate(270deg); + -moz-transform:rotate(270deg); + -ms-transform:rotate(270deg); + -o-transform:rotate(270deg); + transform:rotate(270deg); +} + +#toggle-sidebar, +#table-of-contents .close-sidebar { + display: none; +} + +@media screen and (max-width: 768px) { + #table-of-contents { + display: none; + width: 60%; + } + + #table-of-contents h2 a { + display: block; + } + + #table-of-contents:target { + display: block; + } + + #copyright, #postamble { + display: none; + } + + #toggle-sidebar { + background-color: #2980B9; + display: block; + margin-bottom: 1.6em; + padding: 0.6em; + text-align: center; + } + + #toggle-sidebar h2 { + background-color:#2980B9; + width:100%; + height:50px; + left:0; + top:0; + color: white; + font-size: 100%; + line-height: 50px; + position:fixed; + margin: 0; + padding: 0; + opacity:0.7; + } + + #table-of-contents .close-sidebar { + color: rgba(255, 255, 255, 0.3); + display: inline-block; + margin: 0px 10px 0px 45px; + padding: 10px; + } +} + +*{ + -webkit-box-sizing:border-box; + -moz-box-sizing:border-box; + box-sizing:border-box; +} + +figcaption,figure,footer,header,hgroup,nav{ + display:block} + +ins{ + background:#ff9; + color:#000; + text-decoration:none} + +mark{ + background:#ff0; + color:#000; + font-style:italic; + font-weight:bold} + +small{ + font-size:85%} + +sub,sup{ + font-size:75%; + line-height:0; + position:relative; + vertical-align:baseline} + +sup{ + top:-0.5em} + +sub{ + bottom:-0.25em} + +img{ + -ms-interpolation-mode:bicubic; + vertical-align:middle; + max-width:100%} + +svg:not(:root){ + overflow:hidden} + +figure{ + margin:0} + +label{ + cursor:pointer} + +legend{ + border:0; + margin-left:-7px; + padding:0; + white-space:normal} + +.fa:before,#content .admonition-title:before,#content h1 .headerlink:before,#content h2 .headerlink:before,#content h3 .headerlink:before,#content h4 .headerlink:before,#content h5 .headerlink:before,#content h6 .headerlink:before,#content dl dt .headerlink:before,.icon:before,.wy-dropdown 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