From 6eac907a4a42c21c22c71288e0f8fba527b3ede6 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Fri, 18 Jan 2019 17:18:02 +0100
Subject: [PATCH] Initial Commit

---
 Figures/control_measure_fixed_2dof.png    |  Bin 0 -> 6922 bytes
 Figures/control_measure_rotating_2dof.png |  Bin 0 -> 6891 bytes
 Figures/rotating_frame_2dof.png           |  Bin 0 -> 15112 bytes
 Figures/simscape.png                      |  Bin 0 -> 29857 bytes
 Figures/simulink_ctrl.png                 |  Bin 0 -> 68397 bytes
 css/htmlize.css                           |  145 +++
 css/readtheorg.css                        | 1095 +++++++++++++++++++++
 js/bootstrap.min.js                       |    7 +
 js/jquery.min.js                          |    4 +
 js/jquery.stickytableheaders.min.js       |    1 +
 js/readtheorg.js                          |   85 ++
 js/siunitx.js                             |    2 +
 rotating_frame.html                       |  Bin 0 -> 27829 bytes
 rotating_frame.org                        |  280 ++++++
 14 files changed, 1619 insertions(+)
 create mode 100644 Figures/control_measure_fixed_2dof.png
 create mode 100644 Figures/control_measure_rotating_2dof.png
 create mode 100644 Figures/rotating_frame_2dof.png
 create mode 100644 Figures/simscape.png
 create mode 100644 Figures/simulink_ctrl.png
 create mode 100644 css/htmlize.css
 create mode 100644 css/readtheorg.css
 create mode 100644 js/bootstrap.min.js
 create mode 100644 js/jquery.min.js
 create mode 100644 js/jquery.stickytableheaders.min.js
 create mode 100644 js/readtheorg.js
 create mode 100644 js/siunitx.js
 create mode 100644 rotating_frame.html
 create mode 100644 rotating_frame.org

diff --git a/Figures/control_measure_fixed_2dof.png b/Figures/control_measure_fixed_2dof.png
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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 .caret:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .hint,#content .important,#content .tip,#content .warning,#content .seealso,#content .admonitiontodo,.btn,input[type="text"],input[type="password"],input[type="email"],input[type="url"],input[type="date"],input[type="month"],input[type="time"],input[type="datetime"],input[type="datetime-local"],input[type="week"],input[type="number"],input[type="search"],input[type="tel"],input[type="color"],select,textarea,#table-of-contents li.on a,#table-of-contents li.current>a,.wy-side-nav-search>a,.wy-side-nav-search .wy-dropdown>a,.wy-nav-top a{
+    -webkit-font-smoothing:antialiased}
+
+/*!
+ *  Font Awesome 4.1.0 by @davegandy - http://fontawesome.io - @fontawesome
+ *  License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
+ */@font-face{
+    font-family:'FontAwesome';
+    src:url("../fonts/fontawesome-webfont.eot?v=4.1.0");
+    src:url("../fonts/fontawesome-webfont.eot?#iefix&v=4.1.0") format("embedded-opentype"),url("../fonts/fontawesome-webfont.woff?v=4.1.0") format("woff"),url("../fonts/fontawesome-webfont.ttf?v=4.1.0") format("truetype"),url("../fonts/fontawesome-webfont.svg?v=4.1.0#fontawesomeregular") format("svg");
+    font-weight:normal;
+    font-style:normal}
+
+.fa,#content .admonition-title,.icon{
+    display:inline-block;
+    font-family:FontAwesome;
+    font-style:normal;
+    font-weight:normal;
+    line-height:1;
+    -webkit-font-smoothing:antialiased;
+    -moz-osx-font-smoothing:grayscale}
+
+.fa-ul{
+    padding-left:0;
+    margin-left:2.14286em;
+    list-style-type:none}
+
+.fa-ul>li{
+    position:relative}
+
+.fa-li{
+    position:absolute;
+    left:-2.14286em;
+    width:2.14286em;
+    top:0.14286em;
+    text-align:center}
+
+.fa-li.fa-lg{
+    left:-1.85714em}
+
+.fa-border{
+    padding:.2em .25em .15em;
+    border:solid 0.08em #eee;
+    border-radius:.1em}
+
+.fa,#content .admonition-title{
+    font-family:inherit}
+
+.fa:before,#content .admonition-title:before{
+    font-family:"FontAwesome";
+    display:inline-block;
+    font-style:normal;
+    font-weight:normal;
+    line-height:1;
+    text-decoration:inherit}
+
+a .fa,a #content .admonition-title,#content a .admonition-title{
+    display:inline-block;
+    text-decoration:inherit}
+
+.nav #content .admonition-title,#content .nav .admonition-title,.nav .icon{
+    display:inline}
+
+.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .hint,#content .important,#content .tip,#content .warning,#content .seealso,#content .admonitiontodo{
+    padding:12px;
+    line-height:24px;
+    margin-bottom:24px;
+    /* background:#e7f2fa; */
+}
+
+.wy-alert-title,#content .admonition-title{
+    color:#fff;
+    font-weight:bold;
+    display:block;
+    color:#fff;
+    /* background:#6ab0de; */
+    /* margin:-12px; */
+    padding:6px 12px;
+    margin-bottom:0px}
+
+#content .danger,#content .error{
+    background:#fdf3f2}
+
+.wy-alert.wy-alert-warning,#content .wy-alert-warning.note,#content .attention,#content .caution,#content .wy-alert-warning.danger,#content .wy-alert-warning.error,#content .wy-alert-warning.hint,#content .wy-alert-warning.important,#content .wy-alert-warning.tip,#content .warning,#content .wy-alert-warning.seealso,#content .admonitiontodo{
+    background:#ffedcc}
+
+#content .admonition-title.note:before, #content .admonition-title.seealso:before,
+#content .admonition-title.warning:before, #content .admonition-title.caution:before,
+#content .admonition-title.attention:before,
+#content .admonition-title.tip:before, #content .admonition-title.hint:before,
+#content .admonition-title.important:before,
+#content .admonition-title.error:before, #content .admonition-title.danger:before{
+    font-family:FontAwesome;
+    content: "";}
+
+#content .note,#content .seealso{
+    background:#e7f2fa}
+
+.wy-alert p:last-child,#content .note p:last-child,#content .attention p:last-child,#content .caution p:last-child,#content .danger p:last-child,#content .error p:last-child,#content .hint p:last-child,#content .important p:last-child,#content .tip p:last-child,#content .warning p:last-child,#content .seealso p:last-child,#content .admonitiontodo p:last-child{
+    margin-bottom:0}
+
+#content .admonition-title.tip,#content .admonition-title.important,#content .admonition-title.hint{
+    line-height: 1;
+    background:#1abc9c}
+
+#content .important,#content .tip,#content .hint{
+    background:#dbfaf4}
+
+#content .admonition-title.note,#content .admonition-title.seealso{
+    line-height: 1;
+    background:#6ab0de}
+
+#content .admonition-title.warning,#content .admonition-title.caution,#content .admonition-title.attention{
+    line-height: 1;
+    background:#F0B37E}
+
+#content .admonition-title.error,#content .admonition-title.danger{
+    line-height: 1;
+    background:#f29f97}
+
+legend{
+    display:block;
+    width:100%;
+    border:0;
+    padding:0;
+    white-space:normal;
+    margin-bottom:24px;
+    font-size:150%;
+    *margin-left:-7px}
+
+label{
+    display:block;
+    margin:0 0 0.3125em 0;
+    color:#333;
+    font-size:90%}
+
+a{
+    color:#2980B9;
+    text-decoration:none;
+    cursor:pointer}
+
+
+a:hover,a:active{
+    outline:0;
+}
+
+a:hover{
+    color:#3091d1}
+
+a:visited{
+    color:#9B59B6}
+
+.left{
+    text-align:left}
+
+.center{
+    text-align:center}
+
+.right{
+    text-align:right}
+
+hr{
+    display:block;
+    height:1px;
+    border:0;
+    border-top:1px solid #e1e4e5;
+    margin:24px 0;
+    padding:0}
+
+#table-of-contents li{
+    list-style:none;
+    margin-left: 0px;
+}
+
+#table-of-contents header{
+    height:32px;
+    display:inline-block;
+    line-height:32px;
+    padding:0 1.618em;
+    display:block;
+    font-weight:bold;
+    text-transform:uppercase;
+    font-size:80%;
+    color:#2980B9;
+    white-space:nowrap}
+
+#table-of-contents ul{
+    margin-bottom:0}
+
+#table-of-contents li.divide-top{
+    border-top:solid 1px #404040}
+
+#table-of-contents li.divide-bottom{
+    border-bottom:solid 1px #404040}
+
+#table-of-contents li.current{
+    background:#e3e3e3}
+
+#table-of-contents li.current a{
+    color:gray;
+    border-right:solid 1px #c9c9c9;
+    padding:0.4045em 2.427em}
+
+#table-of-contents li.current a:hover{
+    background:#d6d6d6}
+
+#table-of-contents li a{
+    /* color:#404040; */
+    padding:0.4045em 1.618em;
+    position:relative;
+    /* background:#fcfcfc; */
+    border:none;
+    /* border-bottom:solid 1px #c9c9c9; */
+    /* border-top:solid 1px #c9c9c9; */
+    padding-left:1.618em -4px}
+
+#table-of-contents li.on a:hover,#table-of-contents li.current>a:hover{
+    background:#fcfcfc}
+
+#table-of-contents li ul li a{
+    /* background:#c9c9c9; */
+    padding:0.4045em 2.427em}
+
+#table-of-contents li ul li ul li a{
+    padding:0.4045em 3.236em}
+
+#table-of-contents li.current ul{
+    display:block}
+
+/* #table-of-contents li ul{ */
+/*     margin-bottom:0; */
+/*     display:none} */
+
+#table-of-contents .local-toc li ul{
+    display:block}
+
+#table-of-contents li ul li a{
+    margin-bottom:0;
+    color:#b3b3b3;
+    font-weight:normal}
+
+#table-of-contents a{
+    display:inline-block;
+    line-height:18px;
+    padding:0.4045em 1.618em;
+    display:block;
+    position:relative;
+    font-size:90%;
+    color:#b3b3b3;
+    direction: ltr;
+}
+
+#table-of-contents a:hover{
+    background-color:#4e4a4a;
+    cursor:pointer}
+
+/* #text-table-of-contents { */
+/*     overflow:scroll; */
+/* } */
+
+#table-of-contents{
+    position:fixed;
+    top:0;
+    left:0;
+    width:300px;
+    overflow-x:hidden;
+    overflow-y:scroll;
+    height:100%;
+    background:#343131;
+    z-index:200;
+    scrollbar-base-color: #1F1D1D;
+    scrollbar-arrow-color: #b3b3b3;
+    scrollbar-shadow-color: #1F1D1D;
+    scrollbar-track-color : #343131;
+}
+
+#table-of-contents h2{
+    z-index:200;
+    background-color:#2980B9;
+    text-align:center;
+    padding:0.809em;
+    display:block;
+    color:#fcfcfc;
+    font-size: 100%;
+    margin-bottom:0.809em}
+
+ul.nav li ul li {
+    display: none;
+}
+
+ul.nav li ul li ul li {
+    display: none;
+}
+
+ul.nav li.active ul li {
+    display: inline;
+}
+
+ul.nav li.active ul li ul li {
+    display: inline;
+}
+
+ul.nav li.active ul li a {
+    background-color: #E3E3E3;
+    color: #8099B0;
+    border-right:solid 1px #c9c9c9 !important;
+}
+
+ul.nav li.active ul li.active a {
+    background-color: #C9C9C9;
+    color: black !important;
+    font-weight: bold !important;
+}
+
+ul.nav li.active ul li.active ul li.active a {
+    color: black !important;
+    font-weight: bold !important;
+    display: block !important;
+}
+
+ul.nav li.active ul li.active ul li a {
+    color: #808080 !important;
+    font-weight: normal !important;
+    display: block !important;
+}
+
+ul.nav li.active ul li ul li a {
+    display: none !important;
+}
+
+/* ul.nav li ul li ul li { */
+/*     display: none !important; /\* as long as nav is on multiple levels of ul *\/ */
+/*     /\* display: none; /\* as long as nav is on multiple levels of ul *\\/ *\/ */
+/* } */
+
+ul.nav li ul li ul li ul li {
+    display: none !important; /* as long as nav is on multiple levels of ul */
+    /* display: none; /* as long as nav is on multiple levels of ul *\/ */
+}
+
+ul.nav li.active > a {
+    border-bottom:solid 1px #c9c9c9 !important; /* XXX Restrict it to 2nd level */
+    border-right:solid 1px #c9c9c9 !important;
+}
+
+ul.nav li.active a {
+    color: gray !important;
+    font-weight:bold;
+    background-color: white;
+    border-right:solid 0px white !important;
+}
+
+ul.nav > li.active > a {
+    color: black !important;
+}
+
+footer{
+    color:#999}
+
+footer p{
+    margin-bottom:12px}
+
+#copyright, #postamble{
+    position:fixed;
+    bottom:0;
+    left:0;
+    width:300px;
+    color:#fcfcfc;
+    background:#1f1d1d;
+    border-top:solid 10px #343131;
+    font-family:"Lato","proxima-nova","Helvetica Neue",Arial,sans-serif;
+    font-size: 90%;
+    z-index:400;
+    padding:12px;
+}
+
+#postamble .author {
+    font-size: 100%;
+    margin-bottom: 0px;
+}
+
+#postamble .date {
+    font-size: 90%;
+    margin-bottom: 0px;
+    color: #27AE60;
+}
+
+#postamble .creator,#postamble .validation {
+    display:none;
+}
+
+#copyright a{
+    color:#2980B9;
+    text-decoration:none}
+
+#copyright .rst-current-version{
+    padding:12px;
+    background-color:#272525;
+    display:block;
+    text-align:right;
+    font-size:90%;
+    cursor:pointer;
+    color:#27AE60;
+    *zoom:1}
+
+#content img{
+    max-width:100%;
+}
+
+#content div.figure{
+    margin-bottom:24px}
+
+#content div.figure.align-center{
+    text-align:center}
+
+#content .section>img,#content .section>a>img{
+    margin-bottom:24px}
+
+.verse{
+    border-left:5px solid #6AB0DE;
+    background-color: #E7F2FA;
+    padding: 6px 20px;
+    font-style:italic;
+}
+
+#content .note .last,#content .attention .last,#content .caution .last,#content .danger .last,#content .error .last,#content .hint .last,#content .important .last,#content .tip .last,#content .warning .last,#content .seealso .last,#content .admonitiontodo .last{
+    margin-bottom:0}
+
+#content .admonition-title:before{
+    margin-right:4px}
+
+#content .section ol p,#content .section ul p{
+    margin-bottom:12px}
+
+#content h1 .headerlink,#content h2 .headerlink,#content h3 .headerlink,#content h4 .headerlink,#content h5 .headerlink,#content h6 .headerlink,#content dl dt .headerlink{
+    display:none;
+    visibility:hidden;
+    font-size:14px}
+
+#content h1 .headerlink:after,#content h2 .headerlink:after,#content h3 .headerlink:after,#content h4 .headerlink:after,#content h5 .headerlink:after,#content h6 .headerlink:after,#content dl dt .headerlink:after{
+    visibility:visible;
+    content:"";
+    font-family:FontAwesome;
+    display:inline-block}
+
+#content h1:hover .headerlink,#content h2:hover .headerlink,#content h3:hover .headerlink,#content h4:hover .headerlink,#content h5:hover .headerlink,#content h6:hover .headerlink,#content dl dt:hover .headerlink{
+    display:inline-block}
+
+#content .sidebar{
+    float:right;
+    width:40%;
+    display:block;
+    margin:0 0 24px 24px;
+    padding:24px;
+    background:#f3f6f6;
+    border:solid 1px #e1e4e5}
+
+#content .sidebar p,#content .sidebar ul,#content .sidebar dl{
+    font-size:90%}
+
+#content .sidebar .last{
+    margin-bottom:0}
+
+#content .sidebar .sidebar-title{
+    display:block;
+    font-family:"Roboto Slab","ff-tisa-web-pro","Georgia",Arial,sans-serif;
+    font-weight:bold;
+    background:#e1e4e5;
+    padding:6px 12px;
+    margin:-24px;
+    margin-bottom:24px;
+    font-size:100%}
+
+#content .highlighted{
+    background:#F1C40F;
+    display:inline-block;
+    font-weight:bold;
+    padding:0 6px}
+
+#content .footnote-reference,#content .citation-reference{
+    vertical-align:super;
+    font-size:90%}
+
+span[id*='MathJax-Span']{
+    color:#404040}
+
+.math{
+    text-align:center}
+
+#footnotes{
+    border-top:1px solid #e1e4e5;
+    padding-top: 36px;
+}
+
+h2.footnotes{
+    display:none;
+}
+
+.footnum, .footref{
+    color: #2980b9;
+    font-size: 170%;
+    font-family:"Lato","proxima-nova","Helvetica Neue",Arial,sans-serif;
+}
+
+.footnum:before, .footref:before{
+    content:"[";
+}
+
+.footnum:after, .footref:after{
+    content:"]";
+}
+
+.footpara {
+    color: #999;
+    font-size: 90%;
+    font-family:"Lato","proxima-nova","Helvetica Neue",Arial,sans-serif;
+    padding-bottom: 8px;
+    padding-left: 16px;
+    padding-right: 16px;
+    padding-top: 8px;
+    line-height: 1.25em;
+    /* display: inline; */
+}
+
+.todo{
+    background-color: #f29f97;
+    padding: 0px 4px;
+    color: #fff;
+}
+
+.WAIT, .nilWAIT{
+    background-color: #6AB097;
+}
+
+.done{
+    background-color: #6ab0de;
+    padding: 0px 4px;
+    color: #fff;
+}
+
+.tag span {
+    background-color: #EDEDED;
+    border: 1px solid #EDEDED;
+    color: #939393;
+    cursor: pointer;
+    display: block;
+    float: right;
+    font-size: 80%;
+    font-weight: normal;
+    margin: 0 3px;
+    padding: 1px 2px;
+    border-radius: 10px;
+}
+
+.tag .FLAGGED {
+    background-color: #DB2D27;
+    border: 1px solid #DB2D27;
+    color: white;
+    font-weight: bold;
+}
+
+.timestamp {
+    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: 90%;
+    color: navy;
+}
+
+.nav .timestamp {
+    color: inherit;
+}
+
+.inlinetask {
+    background: #FFF9E3;  /* url(dialog-todo.png) no-repeat 10px 8px; */
+    border: 3px solid #FFEB8E;
+    /* border-right-style: none; */
+    /* border-left-style: none; */
+    /* padding: 10px 20px 10px 60px; */
+    padding: 9px 12px;
+    margin-bottom: 24px;
+    font-family:"Roboto Slab","ff-tisa-web-pro","Georgia",Arial,sans-serif}
diff --git a/js/bootstrap.min.js b/js/bootstrap.min.js
new file mode 100644
index 0000000..c8f82e5
--- /dev/null
+++ b/js/bootstrap.min.js
@@ -0,0 +1,7 @@
+/*!
+ * Bootstrap v3.3.4 (http://getbootstrap.com)
+ * Copyright 2011-2015 Twitter, Inc.
+ * Licensed under MIT (https://github.com/twbs/bootstrap/blob/master/LICENSE)
+ */
+if("undefined"==typeof jQuery)throw new Error("Bootstrap's JavaScript requires jQuery");+function(a){"use strict";var b=a.fn.jquery.split(" ")[0].split(".");if(b[0]<2&&b[1]<9||1==b[0]&&9==b[1]&&b[2]<1)throw new Error("Bootstrap's JavaScript requires jQuery version 1.9.1 or higher")}(jQuery),+function(a){"use strict";function b(){var a=document.createElement("bootstrap"),b={WebkitTransition:"webkitTransitionEnd",MozTransition:"transitionend",OTransition:"oTransitionEnd otransitionend",transition:"transitionend"};for(var c in b)if(void 0!==a.style[c])return{end:b[c]};return!1}a.fn.emulateTransitionEnd=function(b){var c=!1,d=this;a(this).one("bsTransitionEnd",function(){c=!0});var e=function(){c||a(d).trigger(a.support.transition.end)};return setTimeout(e,b),this},a(function(){a.support.transition=b(),a.support.transition&&(a.event.special.bsTransitionEnd={bindType:a.support.transition.end,delegateType:a.support.transition.end,handle:function(b){return a(b.target).is(this)?b.handleObj.handler.apply(this,arguments):void 0}})})}(jQuery),+function(a){"use strict";function b(b){return this.each(function(){var c=a(this),e=c.data("bs.alert");e||c.data("bs.alert",e=new d(this)),"string"==typeof b&&e[b].call(c)})}var c='[data-dismiss="alert"]',d=function(b){a(b).on("click",c,this.close)};d.VERSION="3.3.4",d.TRANSITION_DURATION=150,d.prototype.close=function(b){function c(){g.detach().trigger("closed.bs.alert").remove()}var e=a(this),f=e.attr("data-target");f||(f=e.attr("href"),f=f&&f.replace(/.*(?=#[^\s]*$)/,""));var g=a(f);b&&b.preventDefault(),g.length||(g=e.closest(".alert")),g.trigger(b=a.Event("close.bs.alert")),b.isDefaultPrevented()||(g.removeClass("in"),a.support.transition&&g.hasClass("fade")?g.one("bsTransitionEnd",c).emulateTransitionEnd(d.TRANSITION_DURATION):c())};var e=a.fn.alert;a.fn.alert=b,a.fn.alert.Constructor=d,a.fn.alert.noConflict=function(){return 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\ No newline at end of file
diff --git a/js/jquery.min.js b/js/jquery.min.js
new file mode 100644
index 0000000..25714ed
--- /dev/null
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diff --git a/js/jquery.stickytableheaders.min.js b/js/jquery.stickytableheaders.min.js
new file mode 100644
index 0000000..6c17ea4
--- /dev/null
+++ b/js/jquery.stickytableheaders.min.js
@@ -0,0 +1 @@
+!function(a,b){"use strict";function c(c,g){var h=this;h.$el=a(c),h.el=c,h.id=e++,h.$window=a(b),h.$document=a(document),h.$el.bind("destroyed",a.proxy(h.teardown,h)),h.$clonedHeader=null,h.$originalHeader=null,h.isSticky=!1,h.hasBeenSticky=!1,h.leftOffset=null,h.topOffset=null,h.init=function(){h.$el.each(function(){var b=a(this);b.css("padding",0),h.$originalHeader=a("thead:first",this),h.$clonedHeader=h.$originalHeader.clone(),b.trigger("clonedHeader."+d,[h.$clonedHeader]),h.$clonedHeader.addClass("tableFloatingHeader"),h.$clonedHeader.css("display","none"),h.$originalHeader.addClass("tableFloatingHeaderOriginal"),h.$originalHeader.after(h.$clonedHeader),h.$printStyle=a('<style type="text/css" media="print">.tableFloatingHeader{display:none !important;}.tableFloatingHeaderOriginal{position:static !important;}</style>'),a("head").append(h.$printStyle)}),h.setOptions(g),h.updateWidth(),h.toggleHeaders(),h.bind()},h.destroy=function(){h.$el.unbind("destroyed",h.teardown),h.teardown()},h.teardown=function(){h.isSticky&&h.$originalHeader.css("position","static"),a.removeData(h.el,"plugin_"+d),h.unbind(),h.$clonedHeader.remove(),h.$originalHeader.removeClass("tableFloatingHeaderOriginal"),h.$originalHeader.css("visibility","visible"),h.$printStyle.remove(),h.el=null,h.$el=null},h.bind=function(){h.$scrollableArea.on("scroll."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.on("scroll."+d+h.id,h.setPositionValues),h.$window.on("resize."+d+h.id,h.toggleHeaders)),h.$scrollableArea.on("resize."+d,h.toggleHeaders),h.$scrollableArea.on("resize."+d,h.updateWidth)},h.unbind=function(){h.$scrollableArea.off("."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.off("."+d+h.id,h.setPositionValues),h.$window.off("."+d+h.id,h.toggleHeaders)),h.$scrollableArea.off("."+d,h.updateWidth)},h.toggleHeaders=function(){h.$el&&h.$el.each(function(){var b,c=a(this),d=h.isWindowScrolling?isNaN(h.options.fixedOffset)?h.options.fixedOffset.outerHeight():h.options.fixedOffset:h.$scrollableArea.offset().top+(isNaN(h.options.fixedOffset)?0:h.options.fixedOffset),e=c.offset(),f=h.$scrollableArea.scrollTop()+d,g=h.$scrollableArea.scrollLeft(),i=h.isWindowScrolling?f>e.top:d>e.top,j=(h.isWindowScrolling?f:0)<e.top+c.height()-h.$clonedHeader.height()-(h.isWindowScrolling?0:d);i&&j?(b=e.left-g+h.options.leftOffset,h.$originalHeader.css({position:"fixed","margin-top":h.options.marginTop,left:b,"z-index":3}),h.leftOffset=b,h.topOffset=d,h.$clonedHeader.css("display",""),h.isSticky||(h.isSticky=!0,h.updateWidth()),h.setPositionValues()):h.isSticky&&(h.$originalHeader.css("position","static"),h.$clonedHeader.css("display","none"),h.isSticky=!1,h.resetWidth(a("td,th",h.$clonedHeader),a("td,th",h.$originalHeader)))})},h.setPositionValues=function(){var a=h.$window.scrollTop(),b=h.$window.scrollLeft();!h.isSticky||0>a||a+h.$window.height()>h.$document.height()||0>b||b+h.$window.width()>h.$document.width()||h.$originalHeader.css({top:h.topOffset-(h.isWindowScrolling?0:a),left:h.leftOffset-(h.isWindowScrolling?0:b)})},h.updateWidth=function(){if(h.isSticky){h.$originalHeaderCells||(h.$originalHeaderCells=a("th,td",h.$originalHeader)),h.$clonedHeaderCells||(h.$clonedHeaderCells=a("th,td",h.$clonedHeader));var b=h.getWidth(h.$clonedHeaderCells);h.setWidth(b,h.$clonedHeaderCells,h.$originalHeaderCells),h.$originalHeader.css("width",h.$clonedHeader.width())}},h.getWidth=function(c){var d=[];return c.each(function(c){var e,f=a(this);if("border-box"===f.css("box-sizing"))e=f[0].getBoundingClientRect().width;else{var g=a("th",h.$originalHeader);if("collapse"===g.css("border-collapse"))if(b.getComputedStyle)e=parseFloat(b.getComputedStyle(this,null).width);else{var i=parseFloat(f.css("padding-left")),j=parseFloat(f.css("padding-right")),k=parseFloat(f.css("border-width"));e=f.outerWidth()-i-j-k}else e=f.width()}d[c]=e}),d},h.setWidth=function(a,b,c){b.each(function(b){var d=a[b];c.eq(b).css({"min-width":d,"max-width":d})})},h.resetWidth=function(b,c){b.each(function(b){var d=a(this);c.eq(b).css({"min-width":d.css("min-width"),"max-width":d.css("max-width")})})},h.setOptions=function(c){h.options=a.extend({},f,c),h.$scrollableArea=a(h.options.scrollableArea),h.isWindowScrolling=h.$scrollableArea[0]===b},h.updateOptions=function(a){h.setOptions(a),h.unbind(),h.bind(),h.updateWidth(),h.toggleHeaders()},h.init()}var d="stickyTableHeaders",e=0,f={fixedOffset:0,leftOffset:0,marginTop:0,scrollableArea:b};a.fn[d]=function(b){return this.each(function(){var e=a.data(this,"plugin_"+d);e?"string"==typeof b?e[b].apply(e):e.updateOptions(b):"destroy"!==b&&a.data(this,"plugin_"+d,new c(this,b))})}}(jQuery,window);
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diff --git a/js/readtheorg.js b/js/readtheorg.js
new file mode 100644
index 0000000..0f8439a
--- /dev/null
+++ b/js/readtheorg.js
@@ -0,0 +1,85 @@
+$(function() {
+    $('.note').before("<p class='admonition-title note'>Note</p>");
+    $('.seealso').before("<p class='admonition-title seealso'>See also</p>");
+    $('.warning').before("<p class='admonition-title warning'>Warning</p>");
+    $('.caution').before("<p class='admonition-title caution'>Caution</p>");
+    $('.attention').before("<p class='admonition-title attention'>Attention</p>");
+    $('.tip').before("<p class='admonition-title tip'>Tip</p>");
+    $('.important').before("<p class='admonition-title important'>Important</p>");
+    $('.hint').before("<p class='admonition-title hint'>Hint</p>");
+    $('.error').before("<p class='admonition-title error'>Error</p>");
+    $('.danger').before("<p class='admonition-title danger'>Danger</p>");
+});
+
+$( document ).ready(function() {
+
+    // Shift nav in mobile when clicking the menu.
+    $(document).on('click', "[data-toggle='wy-nav-top']", function() {
+      $("[data-toggle='wy-nav-shift']").toggleClass("shift");
+      $("[data-toggle='rst-versions']").toggleClass("shift");
+    });
+    // Close menu when you click a link.
+    $(document).on('click', ".wy-menu-vertical .current ul li a", function() {
+      $("[data-toggle='wy-nav-shift']").removeClass("shift");
+      $("[data-toggle='rst-versions']").toggleClass("shift");
+    });
+    $(document).on('click', "[data-toggle='rst-current-version']", function() {
+      $("[data-toggle='rst-versions']").toggleClass("shift-up");
+    });
+    // Make tables responsive
+    $("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
+});
+
+$( document ).ready(function() {
+    $('#text-table-of-contents ul').first().addClass('nav');
+                                        // ScrollSpy also requires that we use
+                                        // a Bootstrap nav component.
+    $('body').scrollspy({target: '#text-table-of-contents'});
+
+    // add sticky table headers
+    $('table').stickyTableHeaders();
+
+    // set the height of tableOfContents
+    var $postamble = $('#postamble');
+    var $tableOfContents = $('#table-of-contents');
+    $tableOfContents.css({paddingBottom: $postamble.outerHeight()});
+
+    // add TOC button
+    var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
+    $('#content').prepend(toggleSidebar);
+
+    // add close button when sidebar showed in mobile screen
+    var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
+    var tocTitle = $('#table-of-contents').find('h2');
+    tocTitle.append(closeBtn);
+});
+
+window.SphinxRtdTheme = (function (jquery) {
+    var stickyNav = (function () {
+        var navBar,
+            win,
+            stickyNavCssClass = 'stickynav',
+            applyStickNav = function () {
+                if (navBar.height() <= win.height()) {
+                    navBar.addClass(stickyNavCssClass);
+                } else {
+                    navBar.removeClass(stickyNavCssClass);
+                }
+            },
+            enable = function () {
+                applyStickNav();
+                win.on('resize', applyStickNav);
+            },
+            init = function () {
+                navBar = jquery('nav.wy-nav-side:first');
+                win    = jquery(window);
+            };
+        jquery(init);
+        return {
+            enable : enable
+        };
+    }());
+    return {
+        StickyNav : stickyNav
+    };
+}($));
diff --git a/js/siunitx.js b/js/siunitx.js
new file mode 100644
index 0000000..eac4e62
--- /dev/null
+++ b/js/siunitx.js
@@ -0,0 +1,2 @@
+MathJax.Extension["TeX/siunitx"]={version:"0.1.0"},MathJax.Hub.Register.StartupHook("TeX Jax Ready",function(){!function(){var a,b,c,d,e,f,g,h;a=function(){var a={},b=MathJax.InputJax.TeX,c=a.ValidationError=MathJax.Object.Subclass({Init:function(a,b,c,d){this._errormsg='ValidationError: Error validating "'+b+'" of "'+a.constructor+'" (a "'+c+'") to "'+d+'": ';for(var e=4;e<arguments.length;++e)this._errormsg+=arguments[e].toString();console.log(this._errormsg)},toString:function(){return this._errormsg}}),d=a.ValidationBase=MathJax.Object.Subclass({PropertyDescriptor:function(a,b){var c=this;return{get:function(){return c.Get(this,b)},set:function(a){c.Set(this,b,a)}}},Get:function(a,b){var c=a._values[b];return void 0!==c?c:this._default},Set:function(a,b,c){a._values[b]=this.Validate(a,b,c)},Validate:function(a,b,c){return c}}),e=a.Choice=d.Subclass({Init:function(){this._default=arguments[0];for(var 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+#+TITLE: Control in a rotating frame
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
+#+HTML_HEAD: <script src="js/jquery.min.js"></script>
+#+HTML_HEAD: <script src="js/bootstrap.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="js/jquery.stickytableheaders.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="js/readtheorg.js"></script>
+#+LATEX_CLASS: cleanreport
+#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak, minted]
+#+STARTUP: overview
+#+LaTeX_HEADER: \usepackage{svg}
+#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
+#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
+#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :tangle rotating_frame.m
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :output-dir Figures
+
+* Goal of this note
+The control objective is to stabilize the position of a rotating object with respect to a non-rotating frame.
+
+The actuators are also rotating with the object.
+
+We want to compare the two different approach:
+- the measurement is made in the fixed frame
+- the measurement is made in the rotating frame
+
+* System
+  <<sec:system>>
+** System description
+The system consists of one 2 degree of freedom translation stage on top of a spindle (figure [[fig:rotating_frame_2dof]]).
+
+The control inputs are the forces applied in the translation stage ($F_u$ and $F_v$). As the translation stage is rotating around the Z axis due to the spindle, the forces are applied along $u$ and $v$.
+
+The measurement is either the $x-y$ displacement of the object located on top of the translation stage or the $u-v$ displacement of the actuators.
+
+#+name: fig:rotating_frame_2dof
+#+caption: Schematic of the mecanical system
+[[./Figures/rotating_frame_2dof.png]]
+
+In the following block diagram:
+- $G$ is the transfer function from the forces applied in the actuators to the measurement
+- $K$ is the controller to design
+- $J$ is a Jacobian matrix usually used to change the reference frame
+
+Indices $x$ and $y$ corresponds to signals in the fixed reference frame (along $\vec{i}_x$ and $\vec{i}_y$):
+- $D_x$ is the measured position of the sample
+- $r_x$ is the reference signal which corresponds to the wanted $D_x$
+- $\epsilon_x$ is the position error
+
+Indices $u$ and $v$ corresponds to signals in the rotating reference frame ($\vec{i}_u$ and $\vec{i}_v$):
+- $F_u$ and $F_v$ are forces applied by the actuators
+- $\epsilon_u$ and $\epsilon_v$ are position error of the sample along $\vec{i}_u$ and $\vec{i}_v$
+
+** Equations
+  <<sec:equations>>
+
+Based on the figure [[fig:rotating_frame_2dof]], we can write the equations of motion of the system.
+
+Let's express the kinetic energy $T$ and the potential energy $V$ of the mass $m$:
+#+name: eq:energy_inertial_frame
+\begin{align}
+T & = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) \\
+V & = \frac{1}{2} k \left( x^2 + y^2 \right)
+\end{align}
+
+The Lagrangian is the kinetic energy minus the potential energy.
+#+name: eq:lagrangian_inertial_frame
+\begin{equation}
+L = T-V = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) - \frac{1}{2} k \left( x^2 + y^2 \right)
+\end{equation}
+
+
+The partial derivatives of the Lagrangian with respect to the variables $(x, y)$ are:
+#+name: eq:inertial_frame_deriv
+\begin{align*}
+\frac{\partial L}{\partial x} & = -kx \\
+\frac{\partial L}{\partial y} & = -ky \\
+\frac{d}{dt}\frac{\partial L}{\partial \dot{x}} & = m\ddot{x} \\
+\frac{d}{dt}\frac{\partial L}{\partial \dot{y}} & = m\ddot{y}
+\end{align*}
+
+The external forces applied to the mass are:
+\begin{align*}
+F_{\text{ext}, x} &= F_u \cos{\theta} - F_v \sin{\theta}\\
+F_{\text{ext}, y} &= F_u \sin{\theta} + F_v \cos{\theta}
+\end{align*}
+
+By appling the Lagrangian equations, we obtain:
+\begin{align}
+m\ddot{x} + kx = F_u \cos{\theta} - F_v \sin{\theta}\\
+m\ddot{y} + ky = F_u \sin{\theta} + F_v \cos{\theta}
+\end{align}
+
+We then change coordinates from $(x, y)$ to $(d_x, d_y, \theta)$.
+\begin{align*}
+x & = d_u \cos{\theta} - d_v \sin{\theta}\\
+y & = d_u \sin{\theta} + d_v \cos{\theta}
+\end{align*}
+
+We obtain:
+\begin{align*}
+\ddot{x} & = \ddot{d_u} \cos{\theta} - 2\dot{d_u}\dot{\theta}\sin{\theta} - d_u\ddot{\theta}\sin{\theta} - d_u\dot{\theta}^2 \cos{\theta}
+           - \ddot{d_v} \sin{\theta} - 2\dot{d_v}\dot{\theta}\cos{\theta} - d_v\ddot{\theta}\cos{\theta} + d_v\dot{\theta}^2 \sin{\theta} \\
+\ddot{y} & = \ddot{d_u} \sin{\theta} + 2\dot{d_u}\dot{\theta}\cos{\theta} + d_u\ddot{\theta}\cos{\theta} - d_u\dot{\theta}^2 \sin{\theta}
+           + \ddot{d_v} \cos{\theta} - 2\dot{d_v}\dot{\theta}\sin{\theta} - d_v\ddot{\theta}\sin{\theta} - d_v\dot{\theta}^2 \cos{\theta} \\
+\end{align*}
+
+By injecting the previous result into the Lagrangian equation [[eq:lagrangian_eq_inertial]], we obtain:
+\begin{align*}
+ m \ddot{d_u} \cos{\theta} - 2m\dot{d_u}\dot{\theta}\sin{\theta} - m d_u\ddot{\theta}\sin{\theta} - m d_u\dot{\theta}^2 \cos{\theta}
+-m \ddot{d_v} \sin{\theta} - 2m\dot{d_v}\dot{\theta}\cos{\theta} - m d_v\ddot{\theta}\cos{\theta} + m d_v\dot{\theta}^2 \sin{\theta}
++ k d_u \cos{\theta} - k d_v \sin{\theta} = F_u \cos{\theta} - F_v \sin{\theta} \\
+  m \ddot{d_u} \sin{\theta} + 2m\dot{d_u}\dot{\theta}\cos{\theta} + m d_u\ddot{\theta}\cos{\theta} - m d_u\dot{\theta}^2 \sin{\theta}
++ m \ddot{d_v} \cos{\theta} - 2m\dot{d_v}\dot{\theta}\sin{\theta} - m d_v\ddot{\theta}\sin{\theta} - m d_v\dot{\theta}^2 \cos{\theta}
++ k d_u \sin{\theta} + k d_v \cos{\theta} = F_u \sin{\theta} + F_v \cos{\theta}
+\end{align*}
+
+Which is equivalent to:
+\begin{align*}
+ m \ddot{d_u} - 2m\dot{d_u}\dot{\theta}\frac{\sin{\theta}}{\cos{\theta}} - m d_u\ddot{\theta}\frac{\sin{\theta}}{\cos{\theta}} - m d_u\dot{\theta}^2
+-m \ddot{d_v} \frac{\sin{\theta}}{\cos{\theta}} - 2m\dot{d_v}\dot{\theta} - m d_v\ddot{\theta} + m d_v\dot{\theta}^2 \frac{\sin{\theta}}{\cos{\theta}}
++ k d_u - k d_v \frac{\sin{\theta}}{\cos{\theta}} = F_u - F_v \frac{\sin{\theta}}{\cos{\theta}} \\
+  m \ddot{d_u} + 2m\dot{d_u}\dot{\theta}\frac{\cos{\theta}}{\sin{\theta}} + m d_u\ddot{\theta}\frac{\cos{\theta}}{\sin{\theta}} - m d_u\dot{\theta}^2
++ m \ddot{d_v} \frac{\cos{\theta}}{\sin{\theta}} - 2m\dot{d_v}\dot{\theta} - m d_v\ddot{\theta} - m d_v\dot{\theta}^2 \frac{\cos{\theta}}{\sin{\theta}}
++ k d_u + k d_v \frac{\cos{\theta}}{\sin{\theta}} = F_u + F_v \frac{\cos{\theta}}{\sin{\theta}}
+\end{align*}
+
+We can then subtract and add the previous equations to obtain the following equations:
+#+begin_important
+\begin{align*}
+ m \ddot{d_u} + (k - m\dot{\theta}^2) d_u &= F_u + 2 m\dot{d_v}\dot{\theta} + m d_v\ddot{\theta} \\
+ m \ddot{d_v} + (k - m\dot{\theta}^2) d_v &= F_v - 2 m\dot{d_u}\dot{\theta} - m d_u\ddot{\theta} \\
+\end{align*}
+#+end_important
+
+** Analysis
+We obtain two differential equations that are coupled through:
+- *Euler forces*: $m d_v \ddot{\theta}$
+- *Coriolis forces*: $2 m \dot{d_v} \dot{\theta}$
+
+Without the coupling terms, each equation is the equation of a one degree of freedom mass-spring system with mass $m$ and stiffness $k-d_u m\dot{\theta}^2$.
+Thus, the term $-d_u m\dot{\theta}^2$ acts like a negative stiffness (due to *centrifugal forces*).
+
+* Analytical Computation of forces for the NASS
+For the NASS, the Euler forces should be less of a problem as $\ddot{\theta}$ should be very small when conducting an experiment.
+
+First we will determine the value for Euler and Coriolis forces during regular experiment.
+
+** Euler and Coriolis forces
+
+Let's define the parameters for the NASS.
+#+begin_src matlab :exports code :results silent
+  mlight = 35; % [kg]
+  mheavy = 85; % [kg]
+
+  wlight = 2*pi; % [rad/s]
+  wheavy = 2*pi/60; % [rad/s]
+
+  wdot = 1; % [rad/s2]
+
+  d = 0.1; % [m]
+  ddot = 0.2; % [m/s]
+#+end_src
+
+#+begin_src matlab :exports none :results silent
+  Felight = mlight*d*wdot;
+  Feheavy = mheavy*d*wdot;
+
+  Fclight = 2*mlight*d*wlight;
+  Fcheavy = 2*mheavy*d*wheavy;
+#+end_src
+
+We then compute the corresponding values of the Coriolis and Euler forces, and the obtained values are displayed in table [[tab:euler_coriolis]].
+
+#+begin_src matlab :results value table :exports results :post addhdr(*this*)
+  ans = sprintf(' | Light | Heavy | \n Coriolis | %.1f N | %.1f N | \n Euler | %.1f N | %.1f N', Fclight, Fcheavy, Felight, Feheavy)
+#+end_src
+
+#+NAME: tab:euler_coriolis
+#+CAPTION: Euler and Coriolis forces for the NASS
+#+RESULTS:
+|          | Light  | Heavy |
+|----------+--------+-------|
+| Coriolis | 44.0 N | 1.8 N |
+| Euler    | 3.5 N  | 8.5 N |
+
+** Spring Softening Effect
+#+begin_src matlab :exports none :results silent
+  Klight = mlight*d*wdot^2;
+  Kheavy = mheavy*d*wdot^2;
+#+end_src
+
+The values for the spring softening effect are displayed in table [[tab:spring_softening]].
+This is definitely negligible when using piezoelectric actuators. It may not be the case when using voice coil actuators.
+
+#+begin_src matlab :results value table :exports results :post addhdr(*this*)
+  ans = sprintf(' | Light | Heavy | \n Spring Soft. | %.1f N/m | %.1f N/m', Klight, Kheavy)
+#+end_src
+
+#+NAME: tab:spring_softening
+#+CAPTION: Spring Softening effect
+#+RESULTS:
+|              | Light   | Heavy   |
+|--------------+---------+---------|
+| Spring Soft. | 3.5 N/m | 8.5 N/m |
+
+* Control Strategies
+  <<sec:control_strategies>>
+** Measurement in the fixed reference frame
+First, let's consider a measurement in the fixed referenced frame.
+
+The transfer function from actuator $[F_u, F_v]$ to sensor $[D_x, D_y]$ is then $G(\theta)$.
+
+Then the measurement is subtracted to the reference signal $[r_x, r_y]$ to obtain the position error in the fixed reference frame $[\epsilon_x, \epsilon_y]$.
+
+The position error $[\epsilon_x, \epsilon_y]$ is then express in the rotating frame corresponding to the actuators $[\epsilon_u, \epsilon_v]$.
+
+Finally, the control low $K$ links the position errors $[\epsilon_u, \epsilon_v]$ to the actuator forces $[F_u, F_v]$.
+
+The block diagram is shown on figure [[fig:control_measure_fixed_2dof]].
+
+#+name: fig:control_measure_fixed_2dof
+#+caption: Control with a measure from fixed frame
+[[./Figures/control_measure_fixed_2dof.png]]
+
+The loop gain is then $L = G(\theta) K J(\theta)$.
+
+*** QUESTION Is the loop gain is changing with the angle ?
+Is \[ G(\theta) J(\theta) = G(\theta_0) J(\theta_0) \] ?
+
+** Measurement in the rotating frame
+Let's consider that the measurement is in the rotating reference frame.
+
+The corresponding block diagram is shown figure [[fig:control_measure_rotating_2dof]]
+
+#+name: fig:control_measure_rotating_2dof
+#+caption: Control with a measure from rotating frame
+[[./Figures/control_measure_rotating_2dof.png]]
+
+The loop gain is $L = G K$.
+
+* Effect of the rotating Speed
+  <<sec:effect_rot_speed>>
+** TODO Use realistic parameters for the mass of the sample and stiffness of the X-Y stage
+
+** TODO Check if the plant is changing a lot when we are not turning to when we are turning at the maximum speed (60rpm)
+
+* Effect of the X-Y stage stiffness
+  <<sec:effect_stiffness>>
+** TODO At full speed, check how the coupling changes with the stiffness of the actuators
+* Noweb Snippets                                                   :noexport:
+  :PROPERTIES:
+  :HEADER-ARGS:matlab+: :results none :exports none :tangle no
+  :HEADER-ARGS:emacs-lisp+: :tangle no :eval no-export
+  :END:
+
+** Matlab Init
+#+NAME: matlab-init
+#+BEGIN_SRC matlab :results none :exports none
+  clear; close all; clc;
+  addpath('./src/');
+  ans = 0;
+#+END_SRC
+
+** Matlab Export Figure
+#+NAME: matlab-export-figure
+#+BEGIN_SRC matlab :var fn="figure" ft="png" size="normal-normal" :exports none
+  exportFig(fn, size);
+  ans = [fn, ".", ft];
+#+END_SRC
+
+** Add hline to org table
+#+name: addhdr
+#+begin_src emacs-lisp :var tbl=""
+(cons (car tbl) (cons 'hline (cdr tbl)))
+#+end_src