Index: /applications/dual/vahala/DP/obrazky/kompenzace_odhad.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/kompenzace_odhad.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/kompenzace_odhad.eps (revision 1450)
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+
+6 w
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Index: /applications/dual/vahala/DP/obrazky/kompenzace.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/kompenzace.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/kompenzace.eps (revision 1450)
@@ -0,0 +1,1723 @@
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Index: /applications/dual/vahala/DP/obrazky/orez_N.eps
===================================================================
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+1 1 1 0 1 -1 2051 3025 300 MP stroke
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+0 2 2 2 0 3 2 2 0 2 1 1 0 2 1 1 
+0 2 2 2 0 2 2 2 0 2 2 2 0 3 2 2 
+0 3 2 2 0 2 2 2 0 2 2 2 1 1 0 2 
+2 2 0 2 2 2 1764 2677 300 MP stroke
+0 2 2 2 1 1 0 2 2 2 0 2 1 1 0 2 
+2 2 0 2 2 2 0 2 2 2 0 2 2 2 0 1 
+2 2 0 2 1 1 0 2 2 2 0 3 2 2 0 3 
+2 2 0 2 1 1 0 2 2 2 0 2 1 1 0 2 
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+0 1 2 2 0 2 2 2 0 2 2 2 1 1 0 2 
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+0 2 2 2 0 2 2 2 1 1 0 1 2 2 1 1 
+0 1 2 2 0 2 2 2 0 2 2 2 0 2 2 2 
+0 2 2 2 0 1 2 2 1 1 1 1 0 2 2 2 
+0 2 2 2 0 2 2 2 0 2 2 2 0 2 2 2 
+0 3 2 2 0 2 2 2 1 1 0 1 2 2 1 1 
+0 2 2 2 1 1 0 2 2 2 0 1 2 2 0 1 
+2 2 1 1 1 1 1 0 0 1 2 2 1 1 1 1 
+1 1 1 1 1 1 0 1 2 2 1 1 1 1 1 1 
+0 1 2 2 1 1 1 1 1 1 1 1 1 1 1 1 
+1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 
+1 1 1 1 1 1 1 1 1 1 1 1 0 1 2 2 
+0 1 2 2 1 1 1482 2178 300 MP stroke
+1 1 1 1 1 0 1 1 1 0 1 1 1 0 1 1 
+0 1 2 2 1 1 1 0 1 1 1 1 1 0 1 0 
+1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 1 
+1 0 1 0 1 0 1 0 1 1 1 0 1 1 1 1 
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+1 0 1 0 1 -1 1 0 1 -1 1 0 1 0 1 0 
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+1 0 1 0 1 -1 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 -1 1 0 1 -1 
+1 0 1 -1 1 -1 1183 2167 300 MP stroke
+1 0 1 0 1 0 1 1 1 0 1 0 1 0 1 0 
+1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 1 1 0 1 0 1 1 1 1 
+1 1 1 0 1 1 1 0 1 0 1 0 1 -1 1 0 
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+0 -1 2 -2 0 -2 2 -2 0 -2 2 -2 0 -3 2 -2 
+0 -3 2 -2 0 -2 894 2528 300 MP stroke
+2 -2 0 -3 2 -2 0 -2 1 -1 0 -2 1 -1 0 -2 
+1 -1 0 -2 1 -1 0 -3 2 -2 0 -3 2 -2 0 -2 
+1 -1 0 -2 2 -2 0 -2 2 -2 0 -3 2 -2 0 -2 
+1 -1 0 -2 1 -1 0 -3 2 -2 0 -2 1 -1 0 -2 
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+1 -1 1 0 1 -1 1 -1 1 0 1 -1 0 -1 2 -2 
+1 -1 1 0 1 -1 619 3008 300 MP stroke
+1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1 0 0 -1 
+2 -2 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1 
+1 -1 1 -1 1 -1 1 0 1 -1 1 -1 1 -1 1 0 
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+1 0 1 -1 1 0 1 -1 1 0 1 0 1 -1 1 0 
+1 -1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 541 3051 79 MP stroke
+6 w
+gr
+
+c9
+1 sg
+0 734 773 0 0 -734 2933 1060 4 MP
+PP
+-773 0 0 734 773 0 0 -734 2933 1060 5 MP stroke
+4 w
+DO
+SO
+6 w
+0 sg
+2933  326 mt 3706  326 L
+2933 1060 mt 3706 1060 L
+3706 1060 mt 3706  326 L
+2933 1060 mt 2933  326 L
+2933 1060 mt 3706 1060 L
+2933 1060 mt 2933  326 L
+2933  326 mt 3706  326 L
+2933 1060 mt 3706 1060 L
+3706 1060 mt 3706  326 L
+2933 1060 mt 2933  326 L
+%%IncludeResource: font Symbol
+/Symbol /WindowsLatin1Encoding 168 FMSR
+
+3390  512 mt 
+(w) s
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 132 FMSR
+
+3505  596 mt 
+(ref) s
+gs 2933 326 774 735 rc
+DA
+24 w
+351 0 3003 484 2 MP stroke
+SO
+gr
+
+24 w
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 168 FMSR
+
+3390  787 mt 
+(PI) s
+gs 2933 326 774 735 rc
+c8
+351 0 3003 726 2 MP stroke
+gr
+
+c8
+0 sg
+3390  997 mt 
+(LQ) s
+gs 2933 326 774 735 rc
+c9
+351 0 3003 935 2 MP stroke
+6 w
+gr
+
+6 w
+c9
+
+end %%Color Dict
+
+eplot
+%%EndObject
+
+epage
+end
+
+showpage
+
+%%Trailer
+%%EOF
Index: /applications/dual/vahala/DP/obrazky/vss_pl.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/vss_pl.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/vss_pl.eps (revision 1450)
@@ -0,0 +1,2335 @@
+%!PS-Adobe-3.0 EPSF-3.0
+%%Creator: MATLAB, The MathWorks, Inc. Version 7.13.0.564 (R2011b). Operating System: Microsoft Windows 7.
+%%Title: C:\Users\michal\source\DPtext\obrazky\vss_pl.eps
+%%CreationDate: 04/14/2012  12:52:58
+%%DocumentNeededFonts: Helvetica
+%%DocumentProcessColors: Cyan Magenta Yellow Black
+%%LanguageLevel: 2
+%%Pages: 1
+%%BoundingBox:   123   272   469   568
+%%EndComments
+
+%%BeginProlog
+% MathWorks dictionary
+/MathWorks 160 dict begin
+% definition operators
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+/ldef {load def} bind def
+/xdef {exch def} bdef
+/xstore {exch store} bdef
+% operator abbreviations
+/c  /clip ldef
+/cc /concat ldef
+/cp /closepath ldef
+/gr /grestore ldef
+/gs /gsave ldef
+/mt /moveto ldef
+/np /newpath ldef
+/cm /currentmatrix ldef
+/sm /setmatrix ldef
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+/rl /rlineto ldef
+/s {show newpath} bdef
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+/sg /setgray ldef
+/w /setlinewidth ldef
+/j /setlinejoin ldef
+/cap /setlinecap ldef
+/rc {rectclip} bdef
+/rf {rectfill} bdef
+% page state control
+/pgsv () def
+/bpage {/pgsv save def} bdef
+/epage {pgsv restore} bdef
+/bplot /gsave ldef
+/eplot {stroke grestore} bdef
+% orientation switch
+/portraitMode 0 def /landscapeMode 1 def /rotateMode 2 def
+% coordinate system mappings
+/dpi2point 0 def
+% font control
+/FontSize 0 def
+/FMS {/FontSize xstore findfont [FontSize 0 0 FontSize neg 0 0]
+  makefont setfont} bdef
+/ISOLatin1Encoding where {pop /WindowsLatin1Encoding 256 array bdef
+ISOLatin1Encoding WindowsLatin1Encoding copy pop
+/.notdef/.notdef/quotesinglbase/florin/quotedblbase/ellipsis/dagger
+/daggerdbl/circumflex/perthousand/Scaron/guilsinglleft/OE/.notdef/.notdef
+/.notdef/.notdef/quoteleft/quoteright/quotedblleft/quotedblright/bullet
+/endash/emdash/tilde/trademark/scaron/guilsinglright/oe/.notdef/.notdef
+/Ydieresis WindowsLatin1Encoding 128 32 getinterval astore pop}
+{/WindowsLatin1Encoding StandardEncoding bdef} ifelse
+/reencode {exch dup where {pop load} {pop StandardEncoding} ifelse
+  exch dup 3 1 roll findfont dup length dict begin
+  { 1 index /FID ne {def}{pop pop} ifelse } forall
+  /Encoding exch def currentdict end definefont pop} bdef
+/isroman {findfont /CharStrings get /Agrave known} bdef
+/FMSR {3 1 roll 1 index dup isroman {reencode} {pop pop} ifelse
+  exch FMS} bdef
+/csm {1 dpi2point div -1 dpi2point div scale neg translate
+ dup landscapeMode eq {pop -90 rotate}
+  {rotateMode eq {90 rotate} if} ifelse} bdef
+% line types: solid, dotted, dashed, dotdash
+/SO { [] 0 setdash } bdef
+/DO { [.5 dpi2point mul 4 dpi2point mul] 0 setdash } bdef
+/DA { [6 dpi2point mul] 0 setdash } bdef
+/DD { [.5 dpi2point mul 4 dpi2point mul 6 dpi2point mul 4
+  dpi2point mul] 0 setdash } bdef
+% macros for lines and objects
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+/MP {3 1 roll moveto 1 sub {rlineto} repeat} bdef
+/AP {{rlineto} repeat} bdef
+/PDlw -1 def
+/W {/PDlw currentlinewidth def setlinewidth} def
+/PP {closepath eofill} bdef
+/DP {closepath stroke} bdef
+/MR {4 -2 roll moveto dup  0 exch rlineto exch 0 rlineto
+  neg 0 exch rlineto closepath} bdef
+/FR {MR stroke} bdef
+/PR {MR fill} bdef
+/L1i {{currentfile picstr readhexstring pop} image} bdef
+/tMatrix matrix def
+/MakeOval {newpath tMatrix currentmatrix pop translate scale
+0 0 1 0 360 arc tMatrix setmatrix} bdef
+/FO {MakeOval stroke} bdef
+/PO {MakeOval fill} bdef
+/PD {currentlinewidth 2 div 0 360 arc fill
+   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def
+/FA {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef
+/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale
+  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef
+/FAn {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef
+/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
+  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef
+/vradius 0 def /hradius 0 def /lry 0 def
+/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def
+/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef
+  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly
+  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
+  tMatrix setmatrix lrx hradius sub uly vradius add translate
+  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix
+  lrx hradius sub lry vradius sub translate hradius vradius scale
+  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub
+  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix
+  closepath} bdef
+/FRR {MRR stroke } bdef
+/PRR {MRR fill } bdef
+/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix
+  closepath} bdef
+/FlrRR {MlrRR stroke } bdef
+/PlrRR {MlrRR fill } bdef
+/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
+  closepath} bdef
+/FtbRR {MtbRR stroke } bdef
+/PtbRR {MtbRR fill } bdef
+/stri 6 array def /dtri 6 array def
+/smat 6 array def /dmat 6 array def
+/tmat1 6 array def /tmat2 6 array def /dif 3 array def
+/asub {/ind2 exch def /ind1 exch def dup dup
+  ind1 get exch ind2 get sub exch } bdef
+/tri_to_matrix {
+  2 0 asub 3 1 asub 4 0 asub 5 1 asub
+  dup 0 get exch 1 get 7 -1 roll astore } bdef
+/compute_transform {
+  dmat dtri tri_to_matrix tmat1 invertmatrix 
+  smat stri tri_to_matrix tmat2 concatmatrix } bdef
+/ds {stri astore pop} bdef
+/dt {dtri astore pop} bdef
+/db {2 copy /cols xdef /rows xdef mul dup 3 mul string
+  currentfile 
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+  {/ASCII85Decode filter 3 index 2 eq {/RunLengthDecode filter} if }
+  ifelse exch readstring pop
+  dup 0 3 index getinterval /rbmap xdef
+  dup 2 index dup getinterval /gbmap xdef
+  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef
+/it {gs np dtri aload pop moveto lineto lineto cp c
+  cols rows 8 compute_transform 
+  rbmap gbmap bbmap true 3 colorimage gr}bdef
+/il {newpath moveto lineto stroke}bdef
+currentdict end def
+%%EndProlog
+
+%%BeginSetup
+MathWorks begin
+
+0 cap
+
+end
+%%EndSetup
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+MathWorks begin
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+%%BeginObject: obj1
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+
+/dpi2point 12 def
+portraitMode 1476 6816 csm
+
+    0     0  4161  3548 rc
+85 dict begin %Colortable dictionary
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+/c1 { 1.000000 1.000000 1.000000 sr} bdef
+/c2 { 0.900000 0.000000 0.000000 sr} bdef
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+/c6 { 1.000000 0.260000 0.820000 sr} bdef
+/c7 { 0.000000 0.820000 0.820000 sr} bdef
+c0
+1 j
+1 sg
+   0    0 4162 3549 rf
+6 w
+0 2856 3225 0 0 -2856 541 3161 4 MP
+PP
+-3225 0 0 2856 3225 0 0 -2856 541 3161 5 MP stroke
+4 w
+DO
+SO
+6 w
+0 sg
+ 541  305 mt 3766  305 L
+ 541 3161 mt 3766 3161 L
+3766 3161 mt 3766  305 L
+ 541 3161 mt  541  305 L
+ 541 3161 mt 3766 3161 L
+ 541 3161 mt  541  305 L
+ 541 3161 mt  541 3128 L
+ 541  305 mt  541  337 L
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 120 FMSR
+
+ 508 3306 mt 
+(0) s
+ 971 3161 mt  971 3128 L
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Index: /applications/dual/vahala/DP/obrazky/vss_nt.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/vss_nt.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/vss_nt.eps (revision 1450)
@@ -0,0 +1,3677 @@
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Index: /applications/dual/vahala/DP/obrazky/vss_pt.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/vss_pt.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/vss_pt.eps (revision 1450)
@@ -0,0 +1,2299 @@
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+%%Creator: MATLAB, The MathWorks, Inc. Version 7.13.0.564 (R2011b). Operating System: Microsoft Windows 7.
+%%Title: C:\Users\michal\source\DPtext\obrazky\vss_pt.eps
+%%CreationDate: 04/14/2012  12:44:14
+%%DocumentNeededFonts: Helvetica
+%%DocumentProcessColors: Cyan Magenta Yellow Black
+%%LanguageLevel: 2
+%%Pages: 1
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+0 0 1 0 360 arc tMatrix setmatrix} bdef
+/FO {MakeOval stroke} bdef
+/PO {MakeOval fill} bdef
+/PD {currentlinewidth 2 div 0 360 arc fill
+   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def
+/FA {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef
+/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale
+  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef
+/FAn {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef
+/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
+  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef
+/vradius 0 def /hradius 0 def /lry 0 def
+/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def
+/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef
+  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly
+  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
+  tMatrix setmatrix lrx hradius sub uly vradius add translate
+  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix
+  lrx hradius sub lry vradius sub translate hradius vradius scale
+  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub
+  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix
+  closepath} bdef
+/FRR {MRR stroke } bdef
+/PRR {MRR fill } bdef
+/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix
+  closepath} bdef
+/FlrRR {MlrRR stroke } bdef
+/PlrRR {MlrRR fill } bdef
+/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
+  closepath} bdef
+/FtbRR {MtbRR stroke } bdef
+/PtbRR {MtbRR fill } bdef
+/stri 6 array def /dtri 6 array def
+/smat 6 array def /dmat 6 array def
+/tmat1 6 array def /tmat2 6 array def /dif 3 array def
+/asub {/ind2 exch def /ind1 exch def dup dup
+  ind1 get exch ind2 get sub exch } bdef
+/tri_to_matrix {
+  2 0 asub 3 1 asub 4 0 asub 5 1 asub
+  dup 0 get exch 1 get 7 -1 roll astore } bdef
+/compute_transform {
+  dmat dtri tri_to_matrix tmat1 invertmatrix 
+  smat stri tri_to_matrix tmat2 concatmatrix } bdef
+/ds {stri astore pop} bdef
+/dt {dtri astore pop} bdef
+/db {2 copy /cols xdef /rows xdef mul dup 3 mul string
+  currentfile 
+  3 index 0 eq {/ASCIIHexDecode filter}
+  {/ASCII85Decode filter 3 index 2 eq {/RunLengthDecode filter} if }
+  ifelse exch readstring pop
+  dup 0 3 index getinterval /rbmap xdef
+  dup 2 index dup getinterval /gbmap xdef
+  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef
+/it {gs np dtri aload pop moveto lineto lineto cp c
+  cols rows 8 compute_transform 
+  rbmap gbmap bbmap true 3 colorimage gr}bdef
+/il {newpath moveto lineto stroke}bdef
+currentdict end def
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+/dpi2point 12 def
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+
+    0     0  4161  3548 rc
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+/c6 { 1.000000 0.260000 0.820000 sr} bdef
+/c7 { 0.000000 0.820000 0.820000 sr} bdef
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+
+c9
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+%%IncludeResource: font Helvetica
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+
+ 524 3159 mt 
+( ) s
+3750  308 mt 
+( ) s
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+SO
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+2933 3057 mt 2933 2323 L
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+2933 2323 mt 3706 2323 L
+2933 3057 mt 3706 3057 L
+3706 3057 mt 3706 2323 L
+2933 3057 mt 2933 2323 L
+%%IncludeResource: font Symbol
+/Symbol /WindowsLatin1Encoding 168 FMSR
+
+3390 2509 mt 
+(w) s
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 132 FMSR
+
+3505 2593 mt 
+(ref) s
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+DA
+24 w
+351 0 3003 2481 2 MP stroke
+SO
+gr
+
+24 w
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 168 FMSR
+
+3390 2784 mt 
+(PI) s
+gs 2933 2323 774 735 rc
+c8
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+gr
+
+c8
+0 sg
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+(LQ) s
+gs 2933 2323 774 735 rc
+c9
+351 0 3003 2932 2 MP stroke
+6 w
+gr
+
+6 w
+c9
+
+end %%Color Dict
+
+eplot
+%%EndObject
+
+epage
+end
+
+showpage
+
+%%Trailer
+%%EOF
Index: /applications/dual/vahala/DP/obrazky/orez_val.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/orez_val.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/orez_val.eps (revision 1450)
@@ -0,0 +1,3399 @@
+%!PS-Adobe-3.0 EPSF-3.0
+%%Creator: MATLAB, The MathWorks, Inc. Version 7.13.0.564 (R2011b). Operating System: Microsoft Windows 7.
+%%Title: C:\Users\michal\source\DP\grafy\pcrb\orez_val.eps
+%%CreationDate: 04/10/2012  16:47:54
+%%DocumentNeededFonts: Helvetica
+%%DocumentProcessColors: Cyan Magenta Yellow Black
+%%LanguageLevel: 2
+%%Pages: 1
+%%BoundingBox:    87   262   507   578
+%%EndComments
+
+%%BeginProlog
+% MathWorks dictionary
+/MathWorks 160 dict begin
+% definition operators
+/bdef {bind def} bind def
+/ldef {load def} bind def
+/xdef {exch def} bdef
+/xstore {exch store} bdef
+% operator abbreviations
+/c  /clip ldef
+/cc /concat ldef
+/cp /closepath ldef
+/gr /grestore ldef
+/gs /gsave ldef
+/mt /moveto ldef
+/np /newpath ldef
+/cm /currentmatrix ldef
+/sm /setmatrix ldef
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+/rl /rlineto ldef
+/s {show newpath} bdef
+/sc {setcmykcolor} bdef
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+/sg /setgray ldef
+/w /setlinewidth ldef
+/j /setlinejoin ldef
+/cap /setlinecap ldef
+/rc {rectclip} bdef
+/rf {rectfill} bdef
+% page state control
+/pgsv () def
+/bpage {/pgsv save def} bdef
+/epage {pgsv restore} bdef
+/bplot /gsave ldef
+/eplot {stroke grestore} bdef
+% orientation switch
+/portraitMode 0 def /landscapeMode 1 def /rotateMode 2 def
+% coordinate system mappings
+/dpi2point 0 def
+% font control
+/FontSize 0 def
+/FMS {/FontSize xstore findfont [FontSize 0 0 FontSize neg 0 0]
+  makefont setfont} bdef
+/ISOLatin1Encoding where {pop /WindowsLatin1Encoding 256 array bdef
+ISOLatin1Encoding WindowsLatin1Encoding copy pop
+/.notdef/.notdef/quotesinglbase/florin/quotedblbase/ellipsis/dagger
+/daggerdbl/circumflex/perthousand/Scaron/guilsinglleft/OE/.notdef/.notdef
+/.notdef/.notdef/quoteleft/quoteright/quotedblleft/quotedblright/bullet
+/endash/emdash/tilde/trademark/scaron/guilsinglright/oe/.notdef/.notdef
+/Ydieresis WindowsLatin1Encoding 128 32 getinterval astore pop}
+{/WindowsLatin1Encoding StandardEncoding bdef} ifelse
+/reencode {exch dup where {pop load} {pop StandardEncoding} ifelse
+  exch dup 3 1 roll findfont dup length dict begin
+  { 1 index /FID ne {def}{pop pop} ifelse } forall
+  /Encoding exch def currentdict end definefont pop} bdef
+/isroman {findfont /CharStrings get /Agrave known} bdef
+/FMSR {3 1 roll 1 index dup isroman {reencode} {pop pop} ifelse
+  exch FMS} bdef
+/csm {1 dpi2point div -1 dpi2point div scale neg translate
+ dup landscapeMode eq {pop -90 rotate}
+  {rotateMode eq {90 rotate} if} ifelse} bdef
+% line types: solid, dotted, dashed, dotdash
+/SO { [] 0 setdash } bdef
+/DO { [.5 dpi2point mul 4 dpi2point mul] 0 setdash } bdef
+/DA { [6 dpi2point mul] 0 setdash } bdef
+/DD { [.5 dpi2point mul 4 dpi2point mul 6 dpi2point mul 4
+  dpi2point mul] 0 setdash } bdef
+% macros for lines and objects
+/L {lineto stroke} bdef
+/MP {3 1 roll moveto 1 sub {rlineto} repeat} bdef
+/AP {{rlineto} repeat} bdef
+/PDlw -1 def
+/W {/PDlw currentlinewidth def setlinewidth} def
+/PP {closepath eofill} bdef
+/DP {closepath stroke} bdef
+/MR {4 -2 roll moveto dup  0 exch rlineto exch 0 rlineto
+  neg 0 exch rlineto closepath} bdef
+/FR {MR stroke} bdef
+/PR {MR fill} bdef
+/L1i {{currentfile picstr readhexstring pop} image} bdef
+/tMatrix matrix def
+/MakeOval {newpath tMatrix currentmatrix pop translate scale
+0 0 1 0 360 arc tMatrix setmatrix} bdef
+/FO {MakeOval stroke} bdef
+/PO {MakeOval fill} bdef
+/PD {currentlinewidth 2 div 0 360 arc fill
+   PDlw -1 eq not {PDlw w /PDlw -1 def} if} def
+/FA {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arc tMatrix setmatrix stroke} bdef
+/PA {newpath tMatrix currentmatrix pop	translate 0 0 moveto scale
+  0 0 1 5 -2 roll arc closepath tMatrix setmatrix fill} bdef
+/FAn {newpath tMatrix currentmatrix pop translate scale
+  0 0 1 5 -2 roll arcn tMatrix setmatrix stroke} bdef
+/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
+  0 0 1 5 -2 roll arcn closepath tMatrix setmatrix fill} bdef
+/vradius 0 def /hradius 0 def /lry 0 def
+/lrx 0 def /uly 0 def /ulx 0 def /rad 0 def
+/MRR {/vradius xdef /hradius xdef /lry xdef /lrx xdef /uly xdef
+  /ulx xdef newpath tMatrix currentmatrix pop ulx hradius add uly
+  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
+  tMatrix setmatrix lrx hradius sub uly vradius add translate
+  hradius vradius scale 0 0 1 270 360 arc tMatrix setmatrix
+  lrx hradius sub lry vradius sub translate hradius vradius scale
+  0 0 1 0 90 arc tMatrix setmatrix ulx hradius add lry vradius sub
+  translate hradius vradius scale 0 0 1 90 180 arc tMatrix setmatrix
+  closepath} bdef
+/FRR {MRR stroke } bdef
+/PRR {MRR fill } bdef
+/MlrRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lry uly sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 90 270 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 270 90 arc tMatrix setmatrix
+  closepath} bdef
+/FlrRR {MlrRR stroke } bdef
+/PlrRR {MlrRR fill } bdef
+/MtbRR {/lry xdef /lrx xdef /uly xdef /ulx xdef /rad lrx ulx sub 2 div def
+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
+  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
+  closepath} bdef
+/FtbRR {MtbRR stroke } bdef
+/PtbRR {MtbRR fill } bdef
+/stri 6 array def /dtri 6 array def
+/smat 6 array def /dmat 6 array def
+/tmat1 6 array def /tmat2 6 array def /dif 3 array def
+/asub {/ind2 exch def /ind1 exch def dup dup
+  ind1 get exch ind2 get sub exch } bdef
+/tri_to_matrix {
+  2 0 asub 3 1 asub 4 0 asub 5 1 asub
+  dup 0 get exch 1 get 7 -1 roll astore } bdef
+/compute_transform {
+  dmat dtri tri_to_matrix tmat1 invertmatrix 
+  smat stri tri_to_matrix tmat2 concatmatrix } bdef
+/ds {stri astore pop} bdef
+/dt {dtri astore pop} bdef
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+  currentfile 
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+  {/ASCII85Decode filter 3 index 2 eq {/RunLengthDecode filter} if }
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Index: /applications/dual/vahala/DP/obrazky/testprofily.eps
===================================================================
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+  newpath tMatrix currentmatrix pop ulx rad add uly rad add translate
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+  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
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+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 1 0 1 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 0 2 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 0 2 2 2 
+0 1 2 2 1 1 0 2 2 2 1 1 0 2 2 2 
+0 1 2 2 1 1 0 2 2 2 1 1 0 2 2 2 
+0 1 2 2 1 1 0 2 2 2 0 1 2 2 1 1 
+0 2 2 2 1 1 0 2 2 2 0 1 2 2 1 1 
+0 2 2 2 0 1 2 2 1 1 0 2 2 2 1 1 
+0 2 2 2 0 1 2 2 1 1 0 2 2 2 0 1 
+2 2 1 1 0 2 2 2 1 1 0 2 2 2 0 1 
+2 2 1 1 0 2 2 2 0 1 2 2 1 1 0 2 
+2 2 1 1 0 2 2 2 0 1 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 0 2 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 0 2 2 2 
+1 1 0 2 2 2 1278 2476 300 MP stroke
+0 1 2 2 1 1 0 2 2 2 0 1 2 2 1 1 
+0 2 2 2 1 1 0 2 2 2 0 1 2 2 1 1 
+0 2 2 2 0 1 2 2 1 1 0 2 2 2 1 1 
+0 2 2 2 0 1 2 2 1 1 0 2 2 2 0 1 
+2 2 1 1 0 2 2 2 1 1 0 2 2 2 0 1 
+2 2 1 1 0 2 2 2 1 1 0 2 2 2 0 1 
+2 2 1 1 0 2 2 2 0 1 2 2 1 1 0 2 
+2 2 1 1 0 2 2 2 0 1 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 1 1 0 2 
+2 2 0 1 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 1 1 0 2 2 2 0 1 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 0 2 2 2 
+1 1 0 2 2 2 0 1 2 2 1 1 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 979 2312 300 MP stroke
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 
+1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 -1 
+2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 
+2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 
+1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 
+1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 
+1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 
+1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 
+0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 
+0 -1 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 
+0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 
+0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 
+0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 0 -1 
+2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 
+2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 
+1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 
+1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 
+1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 
+1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 
+0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 2 -2 
+0 -1 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 
+0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 
+0 -2 2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 
+0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 
+0 -2 2 -2 0 -1 681 2693 300 MP stroke
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 1 -1 0 -2 2 -2 0 -1 2 -2 1 -1 0 -2 
+2 -2 0 -1 2 -2 1 -1 0 -2 2 -2 1 -1 0 -2 
+657 2732 25 MP stroke
+gr
+
+24 w
+2437 3654 mt 
+(cas [s]) s
+ 336 3090 mt  -90 rotate
+(otacky [rad/s]) s
+90 rotate
+1237 2007 mt 
+(Prubeh pozadovanych otacek v case - lichobezniky) s
+6 w
+
+end %%Color Dict
+
+eplot
+%%EndObject
+
+epage
+end
+
+showpage
+
+%%Trailer
+%%EOF
Index: /applications/dual/vahala/DP/obrazky/vliv_ss.eps
===================================================================
--- /applications/dual/vahala/DP/obrazky/vliv_ss.eps (revision 1450)
+++ /applications/dual/vahala/DP/obrazky/vliv_ss.eps (revision 1450)
@@ -0,0 +1,341 @@
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+%%CreationDate: 04/13/2012  23:56:14
+%%DocumentNeededFonts: Helvetica
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+  makefont setfont} bdef
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+  dpi2point mul] 0 setdash } bdef
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+/PAn {newpath tMatrix currentmatrix pop translate 0 0 moveto scale
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+  vradius add translate hradius vradius scale 0 0 1 180 270 arc 
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+  rad rad scale 0 0 1 180 360 arc tMatrix setmatrix lrx rad sub lry rad
+  sub translate rad rad scale 0 0 1 0 180 arc tMatrix setmatrix
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+  1 index dup 2 mul exch getinterval /bbmap xdef pop pop}bdef
+/it {gs np dtri aload pop moveto lineto lineto cp c
+  cols rows 8 compute_transform 
+  rbmap gbmap bbmap true 3 colorimage gr}bdef
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+/dpi2point 12 def
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+
+    0     0  4161  3548 rc
+85 dict begin %Colortable dictionary
+/c0 { 0.000000 0.000000 0.000000 sr} bdef
+/c1 { 1.000000 1.000000 1.000000 sr} bdef
+/c2 { 0.900000 0.000000 0.000000 sr} bdef
+/c3 { 0.000000 0.820000 0.000000 sr} bdef
+/c4 { 0.000000 0.000000 0.800000 sr} bdef
+/c5 { 0.910000 0.820000 0.320000 sr} bdef
+/c6 { 1.000000 0.260000 0.820000 sr} bdef
+/c7 { 0.000000 0.820000 0.820000 sr} bdef
+c0
+1 j
+1 sg
+   0    0 4162 3549 rf
+6 w
+0 2892 3225 0 0 -2892 541 3158 4 MP
+PP
+-3225 0 0 2892 3225 0 0 -2892 541 3158 5 MP stroke
+4 w
+DO
+SO
+6 w
+0 sg
+ 541  266 mt 3766  266 L
+ 541 3158 mt 3766 3158 L
+3766 3158 mt 3766  266 L
+ 541 3158 mt  541  266 L
+ 541 3158 mt 3766 3158 L
+ 541 3158 mt  541  266 L
+1078 3158 mt 1078 3125 L
+1078  266 mt 1078  298 L
+%%IncludeResource: font Helvetica
+/Helvetica /WindowsLatin1Encoding 120 FMSR
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+1045 3303 mt 
+(1) s
+2153 3158 mt 2153 3125 L
+2153  266 mt 2153  298 L
+2120 3303 mt 
+(2) s
+3228 3158 mt 3228 3125 L
+3228  266 mt 3228  298 L
+3195 3303 mt 
+(3) s
+ 541 3158 mt  573 3158 L
+3766 3158 mt 3733 3158 L
+ 440 3202 mt 
+(0) s
+ 541 2676 mt  573 2676 L
+3766 2676 mt 3733 2676 L
+ 440 2720 mt 
+(1) s
+ 541 2194 mt  573 2194 L
+3766 2194 mt 3733 2194 L
+ 440 2238 mt 
+(2) s
+ 541 1712 mt  573 1712 L
+3766 1712 mt 3733 1712 L
+ 440 1756 mt 
+(3) s
+ 541 1230 mt  573 1230 L
+3766 1230 mt 3733 1230 L
+ 440 1274 mt 
+(4) s
+ 541  748 mt  573  748 L
+3766  748 mt 3733  748 L
+ 440  792 mt 
+(5) s
+ 541  266 mt  573  266 L
+3766  266 mt 3733  266 L
+ 440  310 mt 
+(6) s
+ 541  266 mt 3766  266 L
+ 541 3158 mt 3766 3158 L
+3766 3158 mt 3766  266 L
+ 541 3158 mt  541  266 L
+gs 541 266 3226 2893 rc
+/c8 { 0.000000 0.000000 1.000000 sr} bdef
+c8
+0 482 156 0 0 -482 707 3158 4 MP
+PP
+0 sg
+-156 0 0 482 156 0 0 -482 707 3158 5 MP stroke
+c8
+0 2410 156 0 0 -2410 1782 3158 4 MP
+PP
+0 sg
+-156 0 0 2410 156 0 0 -2410 1782 3158 5 MP stroke
+c8
+0 482 156 0 0 -482 2857 3158 4 MP
+PP
+0 sg
+-156 0 0 482 156 0 0 -482 2857 3158 5 MP stroke
+3225 0 541 3158 2 MP stroke
+c8
+0 1446 156 0 0 -1446 902 3158 4 MP
+PP
+0 sg
+-156 0 0 1446 156 0 0 -1446 902 3158 5 MP stroke
+c8
+0 964 156 0 0 -964 1977 3158 4 MP
+PP
+0 sg
+-156 0 0 964 156 0 0 -964 1977 3158 5 MP stroke
+c8
+0 964 156 0 0 -964 3052 3158 4 MP
+PP
+0 sg
+-156 0 0 964 156 0 0 -964 3052 3158 5 MP stroke
+c8
+0 964 156 0 0 -964 1098 3158 4 MP
+PP
+0 sg
+-156 0 0 964 156 0 0 -964 1098 3158 5 MP stroke
+c8
+0 1928 156 0 0 -1928 2173 3158 4 MP
+PP
+0 sg
+-156 0 0 1928 156 0 0 -1928 2173 3158 5 MP stroke
+c8
+0 482 156 0 0 -482 3248 3158 4 MP
+PP
+0 sg
+-156 0 0 482 156 0 0 -482 3248 3158 5 MP stroke
+c8
+0 964 156 0 0 -964 1293 3158 4 MP
+PP
+0 sg
+-156 0 0 964 156 0 0 -964 1293 3158 5 MP stroke
+c8
+0 1446 156 0 0 -1446 2368 3158 4 MP
+PP
+0 sg
+-156 0 0 1446 156 0 0 -1446 2368 3158 5 MP stroke
+c8
+0 964 156 0 0 -964 3443 3158 4 MP
+PP
+0 sg
+-156 0 0 964 156 0 0 -964 3443 3158 5 MP stroke
+gr
+
+1904 3446 mt 
+(kategorie) s
+ 358 1860 mt  -90 rotate
+(pocet) s
+90 rotate
+
+end %%Color Dict
+
+eplot
+%%EndObject
+
+epage
+end
+
+showpage
+
+%%Trailer
+%%EOF
Index: /applications/dual/vahala/DP/prac_verz.lyx
===================================================================
--- /applications/dual/vahala/DP/prac_verz.lyx (revision 1449)
+++ /applications/dual/vahala/DP/prac_verz.lyx (revision 1450)
@@ -6451,5 +6451,5 @@
 
 \begin_layout Standard
-Jako univerzální kriterium pro posuzování kvality jednotlivých aplikovaných
+Jako univerzální kritérium pro posuzování kvality jednotlivých aplikovaných
  řídících strategií bude brán kvadrát odchylky skutečných a požadovaných
  otáček.
@@ -7153,5 +7153,5 @@
 <column alignment="center" valignment="top" width="0">
 <row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
@@ -7168,5 +7168,5 @@
 \end_inset
 </cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
@@ -7185,5 +7185,5 @@
 </row>
 <row>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
@@ -7194,5 +7194,5 @@
 \end_inset
 </cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
@@ -7232,6 +7232,4 @@
 
  
-\series bold
-předělat na černobílý
 \end_layout
 
@@ -7383,4 +7381,11 @@
 \begin_layout Section
 Lineárně kvadratický regulátor
+\begin_inset CommandInset label
+LatexCommand label
+name "sec:Linearne-kvadraticky-regulator"
+
+\end_inset
+
+
 \end_layout
 
@@ -7518,4 +7523,11 @@
 \begin_layout Subsection
 Ztrátová funkce
+\begin_inset CommandInset label
+LatexCommand label
+name "sub:LQR-Ztratova-funkce"
+
+\end_inset
+
+
 \end_layout
 
@@ -7844,7 +7856,7 @@
  tvaru
 \begin_inset Formula 
-\[
-\sum_{t=0}^{T-1}\left(\left(x_{t}-\overline{x}_{t}\right)^{T}Q\left(x_{t}-\overline{x}_{t}\right)+u_{t}^{T}Ru_{t}+\left(u_{t}-u_{t-1}\right)^{T}S\left(u_{t}-u_{t-1}\right)\right),
-\]
+\begin{equation}
+\sum_{t=0}^{T-1}\left(\left(x_{t}-\overline{x}_{t}\right)^{T}Q\left(x_{t}-\overline{x}_{t}\right)+u_{t}^{T}Ru_{t}+\left(u_{t}-u_{t-1}\right)^{T}S\left(u_{t}-u_{t-1}\right)\right),\label{eq:lqr-ztrat-fce-tri-cleny}
+\end{equation}
 
 \end_inset
@@ -7930,5 +7942,5 @@
  do těchto souřadnic a ta se stane závislou na čase
 \begin_inset Formula 
-\[
+\begin{equation}
 R_{t}^{\alpha\beta}=\left[\begin{array}{cc}
 \cos\vartheta_{t} & -\sin\vartheta_{t}\\
@@ -7937,6 +7949,6 @@
 \cos\vartheta_{t} & \sin\vartheta_{t}\\
 -\sin\vartheta_{t} & \cos\vartheta_{t}
-\end{array}\right],
-\]
+\end{array}\right],\label{eq:rotace-rdq-na-ralbe}
+\end{equation}
 
 \end_inset
@@ -9857,5 +9869,7 @@
 V této kapitole budou předloženy provedené simulace a jejich výsledky.
  Na tomto základě pak bude diskutován vliv konktrétního algoritmu na výslednou
- kvalitu řízení a jednotlivé algoritmy budou mezi sebou porovnány.
+ kvalitu řízení a jednotlivé algoritmy budou mezi sebou porovnány z různých
+ hledisek.
+ Na závěr bude rozebrána jejich vhodnost pro různé aplikace.
 \end_layout
 
@@ -9865,34 +9879,760 @@
 
 \begin_layout Standard
-použitý PMSM a jeho parametry, simulátor, kompenzace, hodnotící kritéria
- -- alps
+Nejdříve je nutno uvést základní popis prováděných simulací.
+ K simulování běhu skutečného zařízení PMSM bylo užito dvou kvalitativně
+ rozdílných přístupů.
+ Prvním, jednodušším, způsobem je simulování systému pouze na základě jeho
+ rovnic.
+ Pro tuto úlohu byl volen model PMSM (
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "eq:diskretni-system-dq-ldq"
+
+\end_inset
+
+) a navíc byl přidáván vzájemně nezávislý aditivní bílý Gaussovský šum,
+ jak bylo popsáno v části 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sub:Stochasticky-model-pmsm"
+
+\end_inset
+
+.
+ Střední hodnota šumu byla volena nulová a kovarianční matice pro šum v
+ systému a šum měření byly v tomto pořadí
+\begin_inset Formula 
+\begin{eqnarray*}
+Q_{šum} & = & \mathrm{diag}\left(\begin{array}{cccc}
+1,3e-3 & 1,3e-3 & 5.0e-6 & 1.0e-10\end{array}\right),\\
+R_{šum} & = & \mathrm{diag}\left(\begin{array}{cc}
+6,0e-4 & 6,0e-4\end{array}\right),
+\end{eqnarray*}
+
+\end_inset
+
+příčemž volba těchto hodnot vychází převážně z 
+\begin_inset CommandInset citation
+LatexCommand cite
+key "Peroutka2009"
+
+\end_inset
+
+ a dály byly experimentálně doupraveny.
+ Tento typ simulací bude dále v textu označován jako 
+\begin_inset Quotes gld
+\end_inset
+
+
+\emph on
+jednoduchý model
+\emph default
+
+\begin_inset Quotes grd
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+Druhou užitou možností provádění simulací je využití realistického simulátoru.
+ Tento simulátor byl poskytnut vedoucím práce panem Ing.
+ Václavem Šmídlem Ph.D.
+ a jeho detailnější popis je možno najít v 
+\begin_inset CommandInset citation
+LatexCommand cite
+key "Peroutka2009"
+
+\end_inset
+
+.
+ Simulátor je založen na knihovně BDM a zohledňuje i složitější jevy napájecí
+ elektroniky jako úbytky napětí a mrtvé časy.
+ Hlavním rozdílem oproti simulacím založených na stochastickém modelu stroje
+ je, že simulátor poskytuje chování, které daleko více odpovídá chování
+ reálného zařízení.
+ Dalším rozdílem pak je, že se snaží přesnějším výpočtem postihnout komplikované
+ efekty odehrávající se v reálném stroji místo toho, aby je modeloval jako
+ šum a je tedy ve své podstatě deterministický.
+ Tento typ simulací pak bude dále v textu označován jako 
+\begin_inset Quotes gld
+\end_inset
+
+
+\emph on
+simulátor
+\emph default
+
+\begin_inset Quotes grd
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Subsection
+Parametry stroje
+\end_layout
+
+\begin_layout Standard
+V obou typech výše zmíněných simulací byly použity následující parametry:
+\end_layout
+
+\begin_layout Standard
+\align center
+\begin_inset Tabular
+<lyxtabular version="3" rows="12" columns="3">
+<features tabularvalignment="middle">
+<column alignment="center" valignment="top" width="0">
+<column alignment="center" valignment="top" width="0">
+<column alignment="center" valignment="top" width="0">
+<row>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+
+\series bold
+parametr
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+
+\series bold
+označení
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+
+\series bold
+hodnota
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+rezistance
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $R_{s}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,28
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+izotropní indukčnost
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $L_{s}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,003465
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+indukčnost v ose 
+\begin_inset Formula $d$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $L_{d}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,003119
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+indukčnost v ose 
+\begin_inset Formula $q$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $L_{q}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,003812
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+tok permanentních magnetů
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $\psi_{pm}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,1989
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+Parkova konstanta
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $k_{p}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+1,5
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+počet párů pólů
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $p_{p}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+4
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+moment setrvačnosti rotoru
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $J$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,04
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+koeficient viskozity
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $B$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+zátěžný moment
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $T_{L}$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0
+\end_layout
+
+\end_inset
+</cell>
+</row>
+<row>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+vzorkovací perioda
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Formula $\Delta t$
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+0,000125
+\end_layout
+
+\end_inset
+</cell>
+</row>
+</lyxtabular>
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsection
+Kompenzace úbytků napětí
+\end_layout
+
+\begin_layout Standard
+Jak již bylo zmíněno, používaný simulátor zahrnuje i složitější vlivy napájecí
+ elektroniky.
+ Jedním z těchto vlivů jsou i takzvané 
+\emph on
+úbytky napětí
+\emph default
+.
+ Problém těchto úbytků je stručně takový, že po napájecím zdroji požadujeme
+ určité napětí, ale napájecí zdroj dodá napětí menší, proto také označení
+ úbytky.
+ Skutečná napětí však neměříme a předpokládáme, že požadované napětí se
+ rovná skutečnému, viz část 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sec:uloha-rizeni-PMSM"
+
+\end_inset
+
+.
+ Následně může docházet k chybám, protože reálná hodnota napětí ve stroji
+ je menší, než navrhl řídící algoritmus a tento algoritmus se o tom navíc
+ nedozví.
+ Tato situace je zachycena na obrázku 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:Vliv-ubytku-napeti"
+
+\end_inset
+
+ vlevo, kde odhad určený na základě požadovaného napětí přesně sleduje referenčn
+í otáčky, ale skutečné otáčky jsou v důsledku úbytku napětí jiné.
+\end_layout
+
+\begin_layout Standard
+Vhodným způsobem jak tento problém řešit, je úbytky napětí kompenzovat.
+ Kompenzace používaná v této práci je velmi jednoduchá.
+ Byla vytvořena na základě volt-ampérové charakteristiky stroje využité
+ v simulátoru a je založena na předpokladu, že úbytek napětí je úměrný procházej
+ícímu proudu.
+ Kompenzace pak probíhá tak, že ze známé hodnoty proudu je vypočítán úbytek
+ napětí pomocí po částech lineární aproximace volt-ampérové charakteristiky.
+ O tento úbytek je následně zvýšena hodnota požadovaného řídícího napětí.
+ Nevýhodami takového přístupu je, že taková kompenzace není zpětnovazební
+ a dále je v podstatě nastavena na kompenzaci simulátoru a pro reálný stroj
+ by bylo třeba vytvořit kompenzaci novou.
+ Pozitivní vliv kompenzace je zachycen na obrázku 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:Vliv-ubytku-napeti"
+
+\end_inset
+
+ vpravo, kde je možné srovnat skutečné otáčky simulovaného běhu systému
+ s a bez užití kompenzace.
+ 
+\begin_inset Float figure
+wide false
+sideways false
+status collapsed
+
+\begin_layout Plain Layout
+\align center
+\begin_inset Tabular
+<lyxtabular version="3" rows="1" columns="2">
+<features tabularvalignment="middle">
+<column alignment="center" valignment="top" width="0">
+<column alignment="center" valignment="top" width="0">
+<row>
+<cell alignment="center" valignment="top" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Graphics
+	filename obrazky/kompenzace_odhad.eps
+	scale 45
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Graphics
+	filename obrazky/kompenzace.eps
+	scale 45
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+</row>
+</lyxtabular>
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+\begin_inset Caption
+
+\begin_layout Plain Layout
+Vliv úbytků napětí a jejich kompenzace na otáčky.
+ Na levém obrázku je zachycen negativní důsledek úbytků napětí, kdy se odhad
+ kryje s požadovanou hodnotou, ale skutečnost je jiná.
+ Na obrázku vpravo jsou pro srovnání zachyceny skutečné otáčky v případě
+ bez kompenzace a pak při jejím užití.
+ 
+\begin_inset CommandInset label
+LatexCommand label
+name "fig:Vliv-ubytku-napeti"
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsection
+Srovnávací kritéria
+\end_layout
+
+\begin_layout Standard
+Jednotlivé algoritmy budou porovnány na základě několika kritérií.
+ Hlavní z nich je, jak již bylo zmíněno v části 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sec:uloha-rizeni-PMSM"
+
+\end_inset
+
+ založeno na kvadrátu odchylky skutečných a požadovaných otáček.
+ Toto kritérium v podstatě vystihuje míru shody mezi zadanými požadavky
+ v podobě referenčního signálu a jejich skutečným naplněním.
+ Výpočet součtu těchto kvadrátů odchylek však není vhodné přímo užít, protože
+ je závislý na délce časového horizontu.
+ Dále v textu tedy bude uvažováno normované verze takového součtu, která
+ odpovídá průměrné kvadratické chybě za jeden časový krok.
+\end_layout
+
+\begin_layout Standard
+Dalším posuzovacím kritériem pak bude složitost daného algoritmu, především
+ v tom smyslu, jak by byla náročná jeho potenciální aplikace pro řízení
+ skutečného stroje v reálném čase.
+ Diskutována bude i přesnost jednotlivých algoritmů s jakou stanovují odhady
+ stavových veličin.
+\end_layout
+
+\begin_layout Standard
+Časový horizont pro porovnání použitých metod bude obvykle volen v délce
+ 15
+\begin_inset Formula $s$
+\end_inset
+
+, případně pro posouzení počátečního chování systému kratší.
+ Jako referenční signál bude sloužit několik testovacích profilů, v textu
+ budou dále označovány jako:
 \end_layout
 
 \begin_layout Itemize
-vyhodnocení PCRB
+
+\emph on
+nulové otáčky
+\emph default
+: 
+\begin_inset Formula $\omega_{ref}\equiv0$
+\end_inset
+
+
 \end_layout
 
 \begin_layout Itemize
-počáteční rozjezd -- různé chyby počátečního odhadu
+
+\emph on
+nízké otáčky
+\emph default
+: trojúhelníkový a lichoběžníkový profil s amplitudou 
+\begin_inset Formula $1$
+\end_inset
+
+
 \end_layout
 
 \begin_layout Itemize
-extrémní otáčky -- kam až to půjde
+
+\emph on
+průchody nulou
+\emph default
+: trojúhelníkový a lichoběžníkový profil s amplitudou 
+\begin_inset Formula $10$
+\end_inset
+
+
 \end_layout
 
 \begin_layout Itemize
-nulové otáčky -- profil konstantní 0
-\end_layout
-
-\begin_layout Itemize
-nízké otáčky: +-1 trojúhelníky a lichoběžníky
-\end_layout
-
-\begin_layout Itemize
-průchody 0: +-10 trojúhelníky a lichoběžníky
-\end_layout
-
-\begin_layout Itemize
-vysoké otáčky: +-200 trojúhelníky a lichoběžníky
+
+\emph on
+vysoké otáčky
+\emph default
+: trojúhelníkový a lichoběžníkový profil s amplitudou 
+\begin_inset Formula $200$
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+Rozdíl mezi trojúhelníkovým a lichoběžníkovým profilem je znázorněn na obrázku
+ 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:Priklad-profilu-pozad-otack"
+
+\end_inset
+
+, kde je znázorněn pro amplitudu 
+\begin_inset Formula $10$
+\end_inset
+
+.
 \end_layout
 
@@ -9928,5 +10668,5 @@
 \end_inset
 
-: nahoře trojúhleníky a dole lichoběžníky
+: nahoře trojúhleníkový a dole lichoběžníkový profil
 \begin_inset CommandInset label
 LatexCommand label
@@ -9949,59 +10689,587 @@
 
 \begin_layout Section
-Výběr parametrů LQ regulátoru
+Výběr parametrů jednotlivých metod
+\end_layout
+
+\begin_layout Standard
+Protože jednotlivé algoritmy popsané v předchozí části připouštějí více
+ různých implementací a různou volbu klíčových parametrů, je v této části
+ provedeno jejich experimentální srovnání a následná volba reprezentativních
+ zástupců.
 \end_layout
 
 \begin_layout Subsection
-Vliv R
-\end_layout
-
-\begin_layout Standard
-tabulku nahradit grafy a napsat nějaké řeči
+LQ regulátor
+\end_layout
+
+\begin_layout Standard
+V části 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sec:Linearne-kvadraticky-regulator"
+
+\end_inset
+
+ byl popsán lineárně kvadratickéhý regulátor pro PMSM.
+ Některé jeho parametry však nebyly specifikovány a navíc je možná celá
+ řada implementací například dle volby ztrátové funkce nebo souřadného systému.
+ V následujících odstavcích budou porovnány různé verze LQ regulátoru a
+ bude z nich vybrán vhodný zástupce, který bude tuto 
+\begin_inset Quotes gld
+\end_inset
+
+rodinu
+\begin_inset Quotes grd
+\end_inset
+
+ reprezentovat při srovnání s ostatními algritmy, případně bude sloužit
+ jako základ pro tvorbu algoritmů složitějších.
 \end_layout
 
 \begin_layout Subsubsection
-Experiment 1
-\end_layout
-
-\begin_layout Standard
-\begin_inset Formula $T=120000$
-\end_inset
-
-, simulace: rovnice Ldq, 
-\begin_inset Formula $\vartheta_{0}=0$
-\end_inset
-
-, profil: vysoké otáčky lichoběžník
-\end_layout
-
-\begin_layout Standard
-zobrazeny průměrné chyby skutečných a požadovaných otáček na jeden časový
- krok
-\end_layout
-
-\begin_layout Standard
+Vliv matice R
+\end_layout
+
+\begin_layout Standard
+Nejdříve bude věnována pozornost volbě matice 
+\begin_inset Formula $R$
+\end_inset
+
+ představující penalizaci řídícího zásahu ve ztrátové funkci (
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "eq:lq-adit-kv-ztrata"
+
+\end_inset
+
+).
+ Právě hodnoty této matice byly voleny experimentálně tak, aby bylo dosaženo
+ co nejlepšího výsledného řízení ve smyslu minimální průměrné kvadratické
+ chyby.
+ Matice 
+\begin_inset Formula $R$
+\end_inset
+
+ byla volena po vzoru popisu z odstavce 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sub:LQR-Ztratova-funkce"
+
+\end_inset
+
+ jako diagonální v souřadné soustavě 
+\begin_inset Formula $d-q$
+\end_inset
+
+ a na výslednou matici 
+\begin_inset Formula $R$
+\end_inset
+
+ v soustavě 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ byla převáděna aplikací matice rotace, viz rovnice (
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "eq:rotace-rdq-na-ralbe"
+
+\end_inset
+
+).
+ Rozhodující tedy byla volba dvou diagonálních prvků 
+\begin_inset Formula $R_{d}$
+\end_inset
+
+ a 
+\begin_inset Formula $R_{q}$
+\end_inset
+
+.
+ Pro různé dvojice těchto prvků byly provedeny experimenty a vyhodnocena
+ velikost průměrné kvadratické chyby.
+ Jako příklad budou uvedeny dva takové experimenty: První na 
+\emph on
+jednoduchém modelu
+\emph default
+ pro referenční profil 
+\emph on
+vysoké otáčky -- lichoběžník
+\emph default
+ a druhý pak na 
+\emph on
+simulátoru
+\emph default
+ s profilem 
+\emph on
+průchody nulou -- lichoběžník
+\emph default
+.
+ Výsledek těchto experimentů je zobrazen na grafech v obrázku 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:Posouzeni-vlivu-matice-R"
+
+\end_inset
+
+.
+ 
+\begin_inset Float figure
+wide false
+sideways false
+status collapsed
+
+\begin_layout Plain Layout
+\align center
 \begin_inset Tabular
-<lyxtabular version="3" rows="8" columns="8">
+<lyxtabular version="3" rows="1" columns="2">
 <features tabularvalignment="middle">
 <column alignment="center" valignment="top" width="0">
 <column alignment="center" valignment="top" width="0">
-<column alignment="center" valignment="top" width="0">
-<column alignment="center" valignment="top" width="0">
-<column alignment="center" valignment="top" width="0">
-<column alignment="center" valignment="top" width="0">
+<row>
+<cell alignment="center" valignment="top" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Graphics
+	filename obrazky/vlivR_exp1.png
+	scale 45
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+<cell alignment="center" valignment="top" usebox="none">
+\begin_inset Text
+
+\begin_layout Plain Layout
+\begin_inset Graphics
+	filename obrazky/vlivR_exp2.png
+	scale 45
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+</cell>
+</row>
+</lyxtabular>
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+\begin_inset Caption
+
+\begin_layout Plain Layout
+Posouzení vlivu matice 
+\begin_inset Formula $R$
+\end_inset
+
+ na velikost průměrné kvadratické chyby.
+ Vlevo je zachycen výsledek jednoduchého modelu při užití referenčního profilu
+ vysoké otáčky -- lichoběžník a vpravo pak výsledek ze simulátoru s profilem
+ průchody nulou -- lichoběžník.
+ Všechny osy jsou logaritmické a označení 
+\begin_inset Formula $\varepsilon$
+\end_inset
+
+ reprezentuje průměrnou kvadratickou chybu.
+\begin_inset CommandInset label
+LatexCommand label
+name "fig:Posouzeni-vlivu-matice-R"
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+Hodnoty matice 
+\begin_inset Formula $R$
+\end_inset
+
+, se kterými bylo dosaženo nejlepších výsledků ve smyslu minimální průměrné
+ chyby, jsou v souřadné soustavě 
+\begin_inset Formula $d-q$
+\end_inset
+
+:
+\begin_inset Formula 
+\begin{eqnarray*}
+R_{d} & = & 1,0e-3,\\
+R_{q} & = & 1,0e-6.
+\end{eqnarray*}
+
+\end_inset
+
+Podobně je možno volit hodnoty i pro matici 
+\begin_inset Formula $S$
+\end_inset
+
+ penalizující přírůstky napětí, viz odstavec 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sub:LQR-Ztratova-funkce"
+
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Subsubsection
+Vliv penalizace řídícího zásahu
+\end_layout
+
+\begin_layout Standard
+Různé implementace lineárně kvadratického algoritmu lze získat v závislosti
+ na volbě tvaru kvadratické ztrátové funkce, viz rovnice (
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "eq:lqr-ztrat-fce-tri-cleny"
+
+\end_inset
+
+).
+ Člen ztrátové funkce týkající se penalizace stavových veličin (dán maticí
+ 
+\begin_inset Formula $Q$
+\end_inset
+
+), případně jejich odchylky od požadované hodnoty zůstane nezměněn.
+ Pro penalizaci řídících zásahů však budeme podrobněji diskutovat tři možnosti:
+ Jednak je možné uvažovat pouze penalizaci hodnoty, tedy uvažovat člen s
+ maticí 
+\begin_inset Formula $R$
+\end_inset
+
+.
+ Další možností je penalizovat jejich přírůstky, tedy užít člen s maticí
+ 
+\begin_inset Formula $S$
+\end_inset
+
+.
+ Poslední zkoumanou možností je ponechat členy oba a penalizovat jak samotnou
+ hodnotu, tak i její přírůstky.
+ 
+\end_layout
+
+\begin_layout Standard
+Testování jednotlivých možností probíhalo na simulátoru i za použití jednoduchéh
+o modelu pro různá nastavení a referenční profily.
+ Opět byla vyhodnocována průměrná kvadratická chyba, protože však tento
+ ukazatel není vhodný pro srovnání za různých simulačních podmínek a na
+ různých profilech, byly pouze zaznamenávány počty, kolikrát každá z možností
+ penalizace dosáhla nejmenší chyby.
+ Na grafu obrázek jsou pak tyto hodnoty zachyceny.
+ Jako nejvýhodnější se ukázalo využití pouze penalizace přírůstků.
+\begin_inset Float figure
+wide false
+sideways false
+status collapsed
+
+\begin_layout Plain Layout
+\align center
+\begin_inset Graphics
+	filename obrazky/vliv_ss.eps
+	scale 80
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+\begin_inset Caption
+
+\begin_layout Plain Layout
+Vliv rozdílné penalizace řídícího zásahu.
+ Na grafu jsou zachyceny počty, kdy daná kategorie dosáhla nejnižší průměrné
+ chyby za různých experimentálních podmínek.
+ Význam kategorií je následující: 1 -- penalizace pouze hodnot napětí; 2
+ -- penalizace pouze přírůstků napětí; 3 -- penalizace hodnot i přírůstků
+ napětí.
+ Jednotlivé sloupečky v rámci kategorie představují různé experimentální
+ podmínky.
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsubsection
+Vliv souřadné soustavy
+\end_layout
+
+\begin_layout Standard
+Poslední ze zkoumaných možností implementace LQ regulátoru je volba souřadné
+ soustavy.
+ V části 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sec:Linearne-kvadraticky-regulator"
+
+\end_inset
+
+ byly popsány matice pro implementaci v souřadné soustavě 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+, ale i v 
+\begin_inset Formula $d-q$
+\end_inset
+
+ a oba tyto případech zde budou uvažovány pro experimentální porovnání.
+\end_layout
+
+\begin_layout Standard
+V souřadné soustavě 
+\begin_inset Formula $d-q$
+\end_inset
+
+ jsou rovnice popisující PMSM lineární až na smíšené členy obsahující součin
+ proudu a otáček a v případě zanedbání těchto členů by rovnice byly lineární
+ zcela.
+ To by přineslo značnou výhodu, protože by bylo možno celý algoritmus LQ
+ regulátoru předpočítat a výpočet řícícího zásahu značně usnadnit.
+ Zda je však možno zmiňované členy zanedbat a jaké to má důsledky bylo ponecháno
+ k experimentálnímu ověření.
+ Dalším z uvažovaných modelů pro srovnání je tedy předpočítaný LQ regulátor
+ v 
+\begin_inset Formula $d-q$
+\end_inset
+
+ souřadné soustavě s konstantní maticí 
+\begin_inset Formula $A$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+Dále bude ještě uvažován lineárně kvadratický regulátor v souřadné soustavě
+ 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ pro různé indukčnosti v osách 
+\begin_inset Formula $L_{d}$
+\end_inset
+
+ a 
+\begin_inset Formula $L_{q}$
+\end_inset
+
+.
+ A jako referenční bude pro srovnání s ostatními uvažováno i klasické vektorové
+ řízení založené na PI regulátorech.
+\end_layout
+
+\begin_layout Standard
+Vzájemně srovnáváno tedy bylo následujících pět typů algoritmů vektorového
+ řízení založeného na:
+\end_layout
+
+\begin_layout Itemize
+PI regulátorech (
+\begin_inset Formula $PI$
+\end_inset
+
+)
+\end_layout
+
+\begin_layout Itemize
+LQ regulátoru v souřadné soustavě 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ (
+\begin_inset Formula $LQ_{\alpha-\beta}$
+\end_inset
+
+)
+\end_layout
+
+\begin_layout Itemize
+LQ regulátoru v souřadné soustavě 
+\begin_inset Formula $d-q$
+\end_inset
+
+ (
+\begin_inset Formula $LQ_{d-q}$
+\end_inset
+
+)
+\end_layout
+
+\begin_layout Itemize
+LQ regulátoru v souřadné soustavě 
+\begin_inset Formula $d-q$
+\end_inset
+
+ s konstantní maticí (
+\begin_inset Formula $LQ_{d-q}\; konst.$
+\end_inset
+
+)
+\end_layout
+
+\begin_layout Itemize
+LQ regulátoru v souřadné soustavě 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ pro různé indukčnosti (
+\begin_inset Formula $LQ_{\alpha-\beta}\; L_{dq}$
+\end_inset
+
+)
+\end_layout
+
+\begin_layout Standard
+kde v závorce je vždy uvedena zkratka, kterou bude daný algoritmus dále
+ označován v tomto odstavci.
+ Jednotlivé výše zmiňované metody pro řízení PMSM byly opět porovnávány
+ především na základě dosažených průměrných kvadratických chyb, hlavní rysy
+ tohoto porovnání však lze vypozorovat již ze samotných průběhů simulací.
+\end_layout
+
+\begin_layout Standard
+Především je třeba zmínit špatné chování algoritmu (
+\begin_inset Formula $PI$
+\end_inset
+
+) v blízkosti nulových otáček, kdy dochází k jistému 
+\begin_inset Quotes gld
+\end_inset
+
+zpoždění
+\begin_inset Quotes grd
+\end_inset
+
+, než začne regulátor správně pracovat.
+ Charakter tohoto jevu je možno detailněji posoudit na výstupech ze simulátoru
+ na obrázku 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:spatne-chovani-PI"
+
+\end_inset
+
+.
+ Při nízkých požadovaných otáčkách (profil
+\emph on
+ nízké otáčky -- trojúhelníky 
+\emph default
+a 
+\emph on
+lichoběžníky
+\emph default
+) pak dojde k tomu, že algoritmus (
+\begin_inset Formula $PI$
+\end_inset
+
+) vůbec nezačne řídit, otáčky stroje jsou nulové a počáteční poloha rotoru
+ zůstane nezměněna.
+ Oproti tomu metody řízení založené na LQ regulátoru tímto nedostatkem netrpí
+ a dokáží pracovat i s malou amplitudou referenčních otáček.
+ Tento výsledek, tedy rozdíl algoritmu (
+\begin_inset Formula $PI$
+\end_inset
+
+) a obecně nějakého (
+\begin_inset Formula $LQ$
+\end_inset
+
+) je zachycen na grafech obrázek 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:spatne-chovani-PI"
+
+\end_inset
+
+ a).
+\end_layout
+
+\begin_layout Standard
+Zmiňované problematické chování (
+\begin_inset Formula $PI$
+\end_inset
+
+) však má další důsledky i při vyšších otáčkách, kdy vykazuje chyby při
+ průchodu nulou.
+ Jako průchod nulou je označován proces, kdy požadované otáčky mění znaménko
+ a tedy stroj přechází z rotace jedním směrem na rotaci směrem opačným.
+ Zřejmě tedy stroj musí na jistý časový okamžik zastavit a to může způsobovat
+ problémy.
+ Ty jsou patrné opět hlavně pro (
+\begin_inset Formula $PI$
+\end_inset
+
+) algoritmus a využití LQ regulátoru je umožňuje potlačit.
+ Grafické srovnání je zachyceno na obrázku 
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "fig:spatne-chovani-PI"
+
+\end_inset
+
+ b).
+\end_layout
+
+\begin_layout Standard
+\begin_inset Float figure
+wide false
+sideways false
+status open
+
+\begin_layout Plain Layout
+\align center
+\begin_inset Tabular
+<lyxtabular version="3" rows="4" columns="2">
+<features tabularvalignment="middle">
 <column alignment="center" valignment="top" width="0">
 <column alignment="center" valignment="top" width="0">
 <row>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-\begin_inset Formula $R_{d}$
-\end_inset
-
-
-\backslash
-
-\begin_inset Formula $R_{q}$
+\begin_inset Graphics
+	filename obrazky/vss_nt.eps
+	scale 45
+
 \end_inset
 
@@ -10011,63 +11279,15 @@
 \end_inset
 </cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-1
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-1
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-2
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-3
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-4
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-5
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1e-6
+\begin_inset Graphics
+	filename obrazky/vss_nl.eps
+	scale 45
+
+\end_inset
+
+
 \end_layout
 
@@ -10076,72 +11296,18 @@
 </row>
 <row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+<cell multicolumn="1" alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-1
+a) nízké požadované otáčky
 \end_layout
 
 \end_inset
 </cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+<cell multicolumn="2" alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-1,361e4
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,798e3
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,713e1
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-7,715e-2
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-1,809e-1
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,011e-1
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,143e-1
+
 \end_layout
 
@@ -10150,72 +11316,30 @@
 </row>
 <row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-1e-1
+\begin_inset Graphics
+	filename obrazky/vss_pt.eps
+	scale 45
+
+\end_inset
+
+
 \end_layout
 
 \end_inset
 </cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+<cell alignment="center" valignment="top" usebox="none">
 \begin_inset Text
 
 \begin_layout Plain Layout
-1,361e4
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,782e3
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-2,692e1
-\end_layout
-
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+\begin_inset Graphics
+	filename obrazky/vss_pl.eps
+	scale 45
+
+\end_inset
+
+
 \end_layout
 
@@ -10224,368 +11348,18 @@
 </row>
 <row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+<cell multicolumn="1" alignment="center" valignment="top" usebox="none">
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+b) problematika průchodů nulou
 \end_layout
 
 \end_inset
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+
 \end_layout
 
@@ -10600,1470 +11374,106 @@
 \end_layout
 
+\begin_layout Plain Layout
+\begin_inset Caption
+
+\begin_layout Plain Layout
+Špatné chování algoritmu (
+\begin_inset Formula $PI$
+\end_inset
+
+) v blízkosti nulových otáček: Nahoře v části a) je zachycen průběh otáček
+ a polohy, kdy obecně (
+\begin_inset Formula $LQ$
+\end_inset
+
+) algoritmus zvládne sledovat nízký profil referenčních otáčkek 
+\begin_inset Formula $\omega_{ref}$
+\end_inset
+
+ a dobře se s nimi kryje, zatímco algoritmus (
+\begin_inset Formula $PI$
+\end_inset
+
+) je neaktivní.
+ V části b) jsou zachyceny problematické průchody nulou, kdy se algoritmus
+ (
+\begin_inset Formula $PI$
+\end_inset
+
+) dopouští v blízkosti nulových otáček nezanedbatelné chyby, zatímco průběh
+ hodnot pro algoritmus (
+\begin_inset Formula $LQ$
+\end_inset
+
+) je relativně hladký.
+ 
+\begin_inset CommandInset label
+LatexCommand label
+name "fig:spatne-chovani-PI"
+
+\end_inset
+
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Plain Layout
+
+\end_layout
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+Výsledky:
+\end_layout
+
+\begin_layout Itemize
+PI v nízkých otáčkách nic nedělá, kazí průchody nulou a ve vysokých se může
+ rozjet na druhou stranu
+\end_layout
+
+\begin_layout Itemize
+LQ v 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ je srovnatelné s 
+\begin_inset Formula $d-q$
+\end_inset
+
+, ve vysokých otáčkách je 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ nepatrně lepší
+\end_layout
+
+\begin_layout Itemize
+LQ 
+\begin_inset Formula $d-q$
+\end_inset
+
+ konstantní je dobrou alternativou v nízkých otáčkách, ve vysokých má však
+ již mnoho problémů
+\end_layout
+
+\begin_layout Itemize
+LQ 
+\begin_inset Formula $\alpha-\beta$
+\end_inset
+
+ pro různé indukčnosti je nepatrně lepší v nízkých otáčkách, ale znatelně
+ horší ve vysokých
+\end_layout
+
 \begin_layout Subsubsection
-Experiment 2
-\end_layout
-
-\begin_layout Standard
-\begin_inset Formula $T=120000$
-\end_inset
-
-, simulace: simulátor nekompenzovaný, 
-\begin_inset Formula $\vartheta_{0}=0$
-\end_inset
-
-, profil: pruchody lichoběžník
-\end_layout
-
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-velké chyby pro vysoké otáčky v důsledku chybějící kompenzace
-\end_layout
-
-\begin_layout Subsection
-Vliv souřadné soustavy
-\end_layout
-
-\begin_layout Subsection
-Diskuze
+Diskuze a výběr zástupce
 \end_layout
 
@@ -12073,14 +11483,10 @@
 \end_layout
 
-\begin_layout Section
-Parametry duálních metod
-\end_layout
-
 \begin_layout Subsection
-Bikriteriální
+Bikriteriální metoda
 \end_layout
 
 \begin_layout Subsection
-Hyperstav
+Algoritmus využívající hyperstav
 \end_layout
 
