Update config
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106
phd-thesis.org
106
phd-thesis.org
@@ -191,27 +191,27 @@ This is a paragraph
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\minitoc
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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<<matlab-init>>
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#+end_src
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** Figures
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#+begin_src matlab
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t = 0:0.01:5; % Time [s]
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x = sin(2*pi*t); % Output Voltage [V]
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t = 0:0.01:5; % Time [s]
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x = sin(2*pi*t); % Output Voltage [V]
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#+end_src
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#+begin_src matlab
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figure;
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plot(t, x);
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xlabel('Time [s]'); ylabel('Voltage [V]');
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figure;
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plot(t, x);
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xlabel('Time [s]'); ylabel('Voltage [V]');
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/matlab_fig_example.pdf', 'width', 'wide', 'height', 'normal');
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exportFig('figs/matlab_fig_example.pdf', 'width', 'wide', 'height', 'normal');
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#+end_src
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#+name: fig:matlab_fig_example
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@@ -222,12 +222,12 @@ This is a paragraph
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** Table Result
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#+begin_src matlab
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x = 1:10;
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y = x.^2;
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x = 1:10;
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y = x.^2;
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#+end_src
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#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
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data2orgtable([x', y'], {}, {'$x$', '$y = x^2$'}, ' %.0f ');
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data2orgtable([x', y'], {}, {'$x$', '$y = x^2$'}, ' %.0f ');
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#+end_src
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#+name: tab:table_name
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@@ -251,7 +251,7 @@ This is a paragraph
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Results can be automatically outputed as shown below.
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#+begin_src matlab :results value replace
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sqrt(2)
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sqrt(2)
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#+end_src
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#+RESULTS:
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@@ -259,7 +259,7 @@ Results can be automatically outputed as shown below.
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#+begin_src matlab :results output replace
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y
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y
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#+end_src
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#+RESULTS:
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@@ -274,13 +274,13 @@ Moreover, we can link to specific bode blocks (Listing [[lst:matlab_figure]] or
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#+name: lst:matlab_figure
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#+caption: Code to produce a nice contour plot
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#+begin_src matlab
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figure;
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[X,Y,Z] = peaks;
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contour(X,Y,Z,20)
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figure;
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[X,Y,Z] = peaks;
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contour(X,Y,Z,20)
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/matlab_logo.pdf', 'width', 'small', 'height', 'normal');
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exportFig('figs/matlab_logo.pdf', 'width', 'small', 'height', 'normal');
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#+end_src
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#+name: fig:matlab_logo
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@@ -291,8 +291,8 @@ Moreover, we can link to specific bode blocks (Listing [[lst:matlab_figure]] or
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#+name: lst:matlab_svd
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#+caption: Code to compute the Singular Value Decomposition
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#+begin_src matlab :results output replace
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A = [1 2; 3 4; 5 6; 7 8]
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[U,S,V] = svd(A)
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A = [1 2; 3 4; 5 6; 7 8]
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[U,S,V] = svd(A)
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#+end_src
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#+RESULTS:
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@@ -331,18 +331,18 @@ For instance, the code used to specify the wanted the vertical label is on line
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#+name: lst:matlab_line_numbers
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#+caption: Specify Labels
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#+begin_src matlab +n -r
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figure;
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plot(t, x)
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xlabel('Time [s]');
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ylabel('Output [V]'); (ref:test)
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figure;
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plot(t, x)
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xlabel('Time [s]');
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ylabel('Output [V]'); (ref:test)
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#+end_src
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Numbering can be continued by using =+n= option as shown below.
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#+begin_src matlab +n
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figure;
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plot(t, u)
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xlabel('Time [s]');
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ylabel('Input [V]');
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figure;
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plot(t, u)
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xlabel('Time [s]');
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ylabel('Input [V]');
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#+end_src
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* Images
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@@ -367,11 +367,11 @@ Figure [[fig:general_control_names]] shows the results of the Tikz code of listi
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\coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);
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% Connections and labels
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\draw[<-] (inputw) node[above left, align=right]{(weighted)\\exogenous inputs\\$w$} -- ++(-1.5, 0);
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\draw[<-] (inputu) -- ++(-0.8, 0) |- node[left, near start, align=right]{control signals\\$u$} (K.west);
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\draw[<-] (inputw) -- ++(-1.5, 0);
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\draw[<-] (inputu) -- ++(-0.8, 0) |- (K.west);
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\draw[->] (outputz) node[above right, align=left]{(weighted)\\exogenous outputs\\$z$} -- ++(1.5, 0);
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\draw[->] (outputv) -- ++(0.8, 0) |- node[right, near start, align=left]{sensed output\\$v$} (K.east);
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\draw[->] (outputz) -- ++(1.5, 0);
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\draw[->] (outputv) -- ++(0.8, 0) |- (K.east);
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\end{tikzpicture}
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#+end_src
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@@ -416,28 +416,28 @@ Table [[tab:table_with_equations]] shows a table with some mathematics inside.
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#+name: tab:table_multiple_heads
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#+ATTR_LATEX: :font \footnotesize
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#+caption: Table with multiples groups
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| | *Classical Control* | *Modern Control* | *Robust Control* |
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| <l> | <c> | <c> | <c> |
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|-------------------------+------------------------------------+--------------------------------------+-------------------------------------------------------------------------|
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| *Date* | 1930- | 1960- | 1980- |
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|-------------------------+------------------------------------+--------------------------------------+-------------------------------------------------------------------------|
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| *Tools* | Transfer Functions | State Space formulation | Disk margin |
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| | Nyquist Plots | Riccati Equations | Systems and Signals Norms ($\mathcal{H}_\infty$, $\mathcal{H}_2$ Norms) |
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| | Bode Plots | | Closed Loop Transfer Functions |
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| | Phase and Gain margins | | Weighting Functions |
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|-------------------------+------------------------------------+--------------------------------------+-------------------------------------------------------------------------|
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| *Control Architectures* | Proportional, Integral, Derivative | Full State Feedback | General Control Configuration |
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| | Leads, Lags | LQR, LQG | |
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| | | Kalman Filters | |
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|-------------------------+------------------------------------+--------------------------------------+-------------------------------------------------------------------------|
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| *Advantages* | Study Stability | Automatic Synthesis | Automatic Synthesis |
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| | Simple | MIMO | MIMO |
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| | Natural | Optimization Problem | Optimization Problem |
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| | | | Guaranteed Robustness |
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| | | | Easy specification of performances |
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|-------------------------+------------------------------------+--------------------------------------+-------------------------------------------------------------------------|
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| *Disadvantages* | Manual Method | No Guaranteed Robustness | Required knowledge of specific tools |
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| | Only SISO | Difficult Rejection of Perturbations | Need a reasonably good model of the system |
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| | *Classical Control* | *Modern Control* |
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| <l> | <c> | <c> |
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|-------------------------+------------------------------------+--------------------------------------|
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| *Date* | 1930- | 1960- |
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|-------------------------+------------------------------------+--------------------------------------|
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| *Tools* | Transfer Functions | State Space formulation |
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| | Nyquist Plots | Riccati Equations |
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| | Bode Plots | |
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| | Phase and Gain margins | |
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|-------------------------+------------------------------------+--------------------------------------|
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| *Control Architectures* | Proportional, Integral, Derivative | Full State Feedback |
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| | Leads, Lags | LQR, LQG |
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| | | Kalman Filters |
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|-------------------------+------------------------------------+--------------------------------------|
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| *Advantages* | Study Stability | Automatic Synthesis |
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| | Simple | MIMO |
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| | Natural | Optimization Problem |
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| | | |
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| | | |
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|-------------------------+------------------------------------+--------------------------------------|
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| *Disadvantages* | Manual Method | No Guaranteed Robustness |
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| | Only SISO | Difficult Rejection of Perturbations |
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* Appendix :ignore:
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