Störgrößenbeobachter

rt2.tex

@@ -62,6 +62,7 @@
     node distance = 4mm and 6mm
 }
 
+\RedeclareSectionCommand[toclevel=0]{part}  % make \part appear as \chapter in pdf TOC
 
 % \usepackage{tabu}
 % \usepackage[table]{xcolor}
@@ -553,7 +554,6 @@
             \draw     (E) -| (a1);
             \draw    (j3) -- (Kz);
             \draw    (Kz) -- (a3);
-
         \end{scope}
 
     \end{tikzpicture}
@@ -562,6 +562,117 @@
 \end{figure}
 
 \subsection{Störgrößenbeobachtung}
+\begin{figure}
+    \centering
+    \begin{tikzpicture}[
+            node distance = 3mm and 6mm
+        ]
+        % \draw[help lines] (-4,-1) grid (4,1);
+
+        \draw node (int) at (0,0) [integrator];
+
+        \draw node (j2)    [junction,   right=of int]
+              node (C)     [block,      right=of j2] {\mat{C}}
+              node (a4)    [adder,      right=of C]
+              node (d)     [coordinate, above=6mm of a4] {}
+              node (j4)    [junction,   right=of a4]
+              node (end)   [exit,       right=of j4]
+
+              node (a1)    [adder,       left=of int]
+              node (B)     [block,       left=of a1] {\mat{B}}
+              node (j1)    [junction,    left=of B, anchor=center]
+              node (a10)   [adder,       left=50mm of j1]
+              node (Kw)    [block,       left=of a10] {$\mat{K}_w$}
+              node (start) [entry,       left=of Kw]
+
+              node (E)     [block,      above=of B] {\mat{E}}
+              node (z)     [entry,       left=of E]
+
+              node (A)     [block,      below=of int] {\mat{A}};
+
+        \draw node (L)     [block,      below=28mm of int.center, anchor=center] {\mat{L}}
+              node (a6)    [adder,      below=28mm of j4.center,  anchor=center]
+              node (int2)  [integrator, below=of L]
+              node (j6)    [junction,   right=of int2]
+              node (j7)    [junction,   right=of L]
+              node (C2)    [block,      right=of j6] {\mat{C}}
+
+              node (a5)    [adder,       left=of int2]
+              node (B2)    [block,       left=of a5] {\mat{B}}
+
+              node (A2)    [block,      below=of int2] {\mat{A}}
+              node (j3)    [junction,   right=of A2]
+              node (K)     [block,      below=of A2] {\mat{K}} ;
+
+        \draw node (a7)    [adder,       left=of L]
+              node (E2)    [block,       left=of a7] {\mat{E}}
+              node (c1)    [coordinate,  left=of E2] {}
+              node (j8)    [junction,    left=of c1]
+              node (Cz)    [block,       left=of j8] {$\mat{C}_z$}
+              node (j9)    [junction,    left=of Cz]
+              node (intz)  [integrator,  left=of j9]
+              node (a8)    [adder,       left=of intz]
+              node (Lz)    [block,      above=of intz] {$\mat{L}_z$}
+              node (Az)    [block,      below=of intz] {$\mat{A}_z$}
+              node (Kz)    [block,      below=of Az] {$\mat{K}_z$}
+              node (a9)    [adder,       left=of Kz];
+
+
+        \begin{scope}[dspconn, shorten >=1pt, above, inner sep=2pt]
+            \draw (start) -- (Kw)   node[near start] {$w$};
+            \draw    (Kw) -- (a10);
+            \draw   (a10) -- (j1)   node[midway] {$u$}
+                          -- (B);
+            \draw     (B) -- (a1);
+            \draw     (z) -- (E)    node[near start] {$z$};
+            \draw     (E) -| (a1);
+            \draw    (a1) -- (int)  node[midway] {$\dot{x}$};
+            \draw   (int) -- (j2)   node[pos=.4] {$x$}
+                          -- (C);
+            \draw     (C) -- (a4);
+            \draw     (d) -- (a4)   node[right, near start] {$d$};
+            \draw    (a4) -- (j4)
+                          -- (end)  node[pos=.6] {$y$};
+            \draw    (j4) -- (a6);
+            \draw    (j2) |- (A);
+            \draw     (A) -| (a1);
+
+            \draw    (j1) |- (B2);
+            \draw    (B2) -- (a5);
+            \draw    (a5) -- (int2) node[midway] {$\dot{\hat{x}}$};
+            \draw  (int2) -- (j6)   node[pos=.4] {$\hat{x}$}
+                          -- (C2);
+            \draw    (C2) -| (a6)   node[near start] {$\hat{y}$} node[minus];
+            \draw    (a6) -- (j7)
+                          -- (L);
+            \draw     (L) -- (a7);
+            \draw    (a7) -- (a5);
+            \draw    (j6) -- (j3)
+                          -- (A2);
+            \draw    (A2) -| (a5);
+            \draw    (j3) |- (K);
+
+            \draw    (a8) -- (intz) node[midway] {$\dot{\hat{x}}_{\!z}$};
+            \draw  (intz) -- (j9)   node[pos=.4] {$\hat{x}_{\!z}$}
+                          -- (Cz);
+            \draw    (Cz) -- (j8)   node[pos=.4] {$\hat{z}$}
+                          -- (E2);
+            \draw    (E2) -- (a7);
+            \draw    (j9) |- (Az);
+            \draw    (Az) -| (a8);
+            \draw    (j7) |- (Lz);
+            \draw    (Lz) -| (a8);
+            \draw    (j8) |- (Kz);
+            \draw    (Kz) -- (a9);
+            \draw     (K) -| (a9)   node[minus];
+            \draw    (a9) -| (a10);
+        \end{scope}
+
+    \end{tikzpicture}
+    \label{fig:storgrossenbeobachter}
+    \caption{Störgrößenbeobachter}
+\end{figure}
+
 
 \pagebreak
 \part{Kochbuch}