phd-thesis/phd-thesis.org

Glossary and Acronyms - Tables

label	name	description
ka	\ensuremath{k_a}	Actuator Stiffness in
phi	\ensuremath{ɸ}	A woody bush

key	abbreviation	full form
mimo	MIMO	Multiple-Inputs Multiple-Outputs
siso	SISO	Single-Input Single-Output
nass	NASS	Nano Active Stabilization System
lti	LTI	Linear Time Invariant

Title Page

Abstract

Résumé

Acknowledgments

Table of Contents

Introduction

Test

minitoc

Test

• acronyms acrshort:nass acrshort:mimo acrshort:lti Single-Input Single-Output (SISO)
• glossary terms gls:ka, gls:phi.
• Bibliography citations: cite:&dehaeze21_activ_dampin_rotat_platf_using;&dehaeze21_mechat_approac_devel_nano_activ_stabil_system.

Some Footnote¹

blabla

sdlfk

sldkjf asdf

lksdfjasd

lksdfjasd

lksdfjasd

blabla

Source Blocks

Figures

  t = 0:0.01:5; % Time [s]
  x = sin(2*pi*t); % Output Voltage [V]

  figure;
  plot(t, x);
  xlabel('Time [s]'); ylabel('Voltage [V]');

Matlab Figure

Table Result

  x = 1:10;
  y = x.^2;

$x$	$y = x^2$
1	1
2	4
3	9
4	16
5	25
6	36
7	49
8	64
9	81
10	100

Table caption

Inline Results

Results can be automatically outputed as shown below.

  sqrt(2)

1.4142

  y

y =
     1     4     9    16    25    36    49    64    81   100

Caption and Reference

Captions can be added to code blocks. Moreover, we can link to specific bode blocks (Listing lst:matlab_figure or lst:matlab_svd).

  figure;
  [X,Y,Z] = peaks;
  contour(X,Y,Z,20)

Code to produce a nice contour plot

Obtained Contour Plot

  A = [1 2; 3 4; 5 6; 7 8]
  [U,S,V] = svd(A)

A = [1 2; 3 4; 5 6; 7 8]
A =
     1     2
     3     4
     5     6
     7     8
[U,S,V] = svd(A)
U =
        -0.152483233310201         -0.82264747222566        -0.394501022283829        -0.379959133877596
        -0.349918371807964         -0.42137528768458         0.242796545704357         0.800655879510063
        -0.547353510305727       -0.0201031031435029         0.697909975442776        -0.461434357387336
         -0.74478864880349         0.381169081397575        -0.546205498863303        0.0407376117548695
S =
          14.2690954992615                         0
                         0         0.626828232417541
                         0                         0
                         0                         0
V =
        -0.641423027995072         0.767187395072177
        -0.767187395072177        -0.641423027995072

Code to compute the Singular Value Decomposition

Source Blocks with Line Numbers

Citation cite:&taghirad13_paral;&dehaeze21_activ_dampin_rotat_platf_using

The Listing lst:matlab_line_numbers has line numbers as the -n option was used.

Specific lines of codes can be referenced. For instance, the code used to specify the wanted the vertical label is on line /tdehaeze/phd-thesis/src/commit/2025409ae0b8ef24a53fb5654dca96d433837458/(test).

  figure;
  plot(t, x)
  xlabel('Time [s]');
  ylabel('Output [V]'); (ref:test)

Specify Labels

Numbering can be continued by using +n option as shown below.

  figure;
  plot(t, u)
  xlabel('Time [s]');
  ylabel('Input [V]');

Images

Normal Image

Figure fig:general_control_names shows the results of the Tikz code of listing lst:tikz_test.

  \begin{tikzpicture}

    % Blocs
    \node[block={2.0cm}{2.0cm}] (P) {$P$};
    \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};

    % Input and outputs coordinates
    \coordinate[] (inputw)  at ($(P.south west)!0.75!(P.north west)$);
    \coordinate[] (inputu)  at ($(P.south west)!0.25!(P.north west)$);
    \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
    \coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);

    % Connections and labels
    \draw[<-] (inputw) node[above left, align=right]{(weighted)\\exogenous inputs\\$w$} -- ++(-1.5, 0);
    \draw[<-] (inputu) -- ++(-0.8, 0) |- node[left, near start, align=right]{control signals\\$u$} (K.west);

    \draw[->] (outputz) node[above right, align=left]{(weighted)\\exogenous outputs\\$z$} -- ++(1.5, 0);
    \draw[->] (outputv) -- ++(0.8, 0) |- node[right, near start, align=left]{sensed output\\$v$} (K.east);
  \end{tikzpicture}

Tikz code that is used to generate Figure fig:general_control_names

General Control Configuration

Sub Images

Link to subfigure fig:general_control_names_1.

file:figs/general_control_names.png	file:figs/general_control_names.png
<<fig:general_control_names_1>> sub figure caption	<<fig:general_control_names_2>> sub figure caption

Tables

Table tab:table_with_equations shows a table with some mathematics inside.

$N$	$N^2$	$N^3$	$N^4$	$\sqrt n$	$\sqrt[4]N$
1	1	1	1	1	1
2	4	8	16	1.4142136	1.1892071
3	9	27	81	1.7320508	1.3160740

A Simple table with included math

	1	2	3	4	5
1	1	2	3	4	5
2	2	4	6	8	10
3	3	6	9	12	15
4	4	8	12	16	20
5	5	10	15	20	25

Table without Head

	Classical Control	Modern Control	Robust Control
Date	1930-	1960-	1980-
Tools	Transfer Functions	State Space formulation	Disk margin
	Nyquist Plots	Riccati Equations	Systems and Signals Norms ($\mathcal{H}_\infty$, $\mathcal{H}_2$ Norms)
	Bode Plots		Closed Loop Transfer Functions
	Phase and Gain margins		Weighting Functions
Control Architectures	Proportional, Integral, Derivative	Full State Feedback	General Control Configuration
	Leads, Lags	LQR, LQG
		Kalman Filters
Advantages	Study Stability	Automatic Synthesis	Automatic Synthesis
	Simple	MIMO	MIMO
	Natural	Optimization Problem	Optimization Problem
			Guaranteed Robustness
			Easy specification of performances
Disadvantages	Manual Method	No Guaranteed Robustness	Required knowledge of specific tools
	Only SISO	Difficult Rejection of Perturbations	Need a reasonably good model of the system

Table with multiples groups

Bibliography

Glossary

Appendix

Mathematical formulas

Comments on something

Footnotes

¹this is a footnote with citation cite:&dehaeze21_mechat_approac_devel_nano_activ_stabil_system.

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