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This is pdfTeX, Version 3.14159265-2.6-1.40.17 (MiKTeX 2.9.6210 64-bit) (preloaded format=pdflatex 2017.2.4) 14 FEB 2018 17:31
entering extended mode
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LaTeX2e <2017/01/01> patch level 1
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! Undefined control sequence.
l.4 \chapter
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The control sequence at the end of the top line
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! LaTeX Error: Missing \begin{document}.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.4 \chapter{C
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Missing character: There is no c in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no C in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...eference `ch:control' on page \thepage
\space undefined\on@line .
l.7 ...fficients, described in Ch:\ref{ch:control}
, when optimized subsequen...
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `ch:control' on page undefined on input line 7.
Missing character: There is no , in font nullfont!
Missing character: There is no w in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no z in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no q in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no y in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no S in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...ec:simulation.tuning' on page \thepage
\space undefined\on@line .
l.7 ...equently in Sec:\ref{sec:simulation.tuning}
.
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `sec:simulation.tuning' on page undefined on input li
ne 7.
Missing character: There is no . in font nullfont!
Overfull \hbox (20.0pt too wide) in paragraph at lines 4--8
[]
[]
Overfull \hbox (10.86105pt too wide) in paragraph at lines 4--8
[]
[]
Overfull \hbox (10.86105pt too wide) in paragraph at lines 4--8
[]
[]
! LaTeX Error: Missing \begin{document}.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.9 H
igher level attitude and position controllers (from Sec:\ref{sec:contro...
You're in trouble here. Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Missing character: There is no H in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no ( in font nullfont!
Missing character: There is no f in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no S in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...sec:control.attitude' on page \thepage
\space undefined\on@line .
l.9 ...ollers (from Sec:\ref{sec:control.attitude}
and Sec:\ref{sec:control....
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `sec:control.attitude' on page undefined on input lin
e 9.
Missing character: There is no a in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no S in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...sec:control.position' on page \thepage
\space undefined\on@line .
l.9 ...ttitude} and Sec:\ref{sec:control.position}
respectively) design a vi...
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `sec:control.position' on page undefined on input lin
e 9.
Missing character: There is no r in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no y in font nullfont!
Missing character: There is no ) in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no t in font nullfont!
LaTeX Font Info: External font `cmex10' loaded for size
(Font) <7> on input line 9.
LaTeX Font Info: External font `cmex10' loaded for size
(Font) <5> on input line 9.
Missing character: There is no t in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no y in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no ' in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no . in font nullfont!
Missing character: There is no T in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no ' in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no v in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no w in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no S in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ... `sec:control.inputs' on page \thepage
\space undefined\on@line .
l.9 ...s described in Sec:\ref{sec:control.inputs}
but a simplified allocati...
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `sec:control.inputs' on page undefined on input line
9.
Missing character: There is no b in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no f in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no k in font nullfont!
Missing character: There is no , in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no f in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no m in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no F in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...e `fig:control-block' on page \thepage
\space undefined\on@line .
l.9 ...loop diagram in Fig:\ref{fig:control-block}
, is illustrated in Fig:\r...
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `fig:control-block' on page undefined on input line 9
.
Missing character: There is no , in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no u in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no e in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no F in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no : in font nullfont!
! Undefined control sequence.
<write> ...fig:allocation-block' on page \thepage
\space undefined\on@line .
l.9 ...lustrated in Fig:\ref{fig:allocation-block}
.
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
LaTeX Warning: Reference `fig:allocation-block' on page undefined on input lin
e 9.
Missing character: There is no . in font nullfont!
! LaTeX Error: Environment figure undefined.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.10 \begin{figure}
[htbp]
Your command was ignored.
Type I <command> <return> to replace it with another command,
or <return> to continue without it.
Missing character: There is no [ in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no p in font nullfont!
Missing character: There is no ] in font nullfont!
! LaTeX Error: Environment subfigure undefined.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.13 \begin{subfigure}
{0.48\textwidth}
Your command was ignored.
Type I <command> <return> to replace it with another command,
or <return> to continue without it.
Missing character: There is no 0 in font nullfont!
Missing character: There is no . in font nullfont!
Missing character: There is no 4 in font nullfont!
Missing character: There is no 8 in font nullfont!
! Missing number, treated as zero.
<to be read again>
}
l.13 \begin{subfigure}{0.48\textwidth}
A number should have been here; I inserted `0'.
(If you can't figure out why I needed to see a number,
look up `weird error' in the index to The TeXbook.)
! Illegal unit of measure (pt inserted).
<to be read again>
}
l.13 \begin{subfigure}{0.48\textwidth}
Dimensions can be in units of em, ex, in, pt, pc,
cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
I'll assume that you meant to say pt, for printer's points.
To recover gracefully from this error, it's best to
delete the erroneous units; e.g., type `2' to delete
two letters. (See Chapter 27 of The TeXbook.)
! Undefined control sequence.
l.15 \includegraphics
[width=\textwidth]{figs/allocator-block}
The control sequence at the end of the top line
of your error message was never \def'ed. If you have
misspelled it (e.g., `\hobx'), type `I' and the correct
spelling (e.g., `I\hbox'). Otherwise just continue,
and I'll forget about whatever was undefined.
Missing character: There is no [ in font nullfont!
Missing character: There is no w in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no d in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no h in font nullfont!
Missing character: There is no = in font nullfont!
! Missing number, treated as zero.
<to be read again>
]
l.15 \includegraphics[width=\textwidth]
{figs/allocator-block}
A number should have been here; I inserted `0'.
(If you can't figure out why I needed to see a number,
look up `weird error' in the index to The TeXbook.)
! Illegal unit of measure (pt inserted).
<to be read again>
]
l.15 \includegraphics[width=\textwidth]
{figs/allocator-block}
Dimensions can be in units of em, ex, in, pt, pc,
cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
I'll assume that you meant to say pt, for printer's points.
To recover gracefully from this error, it's best to
delete the erroneous units; e.g., type `2' to delete
two letters. (See Chapter 27 of The TeXbook.)
Missing character: There is no ] in font nullfont!
Missing character: There is no f in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no g in font nullfont!
Missing character: There is no s in font nullfont!
Missing character: There is no / in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no r in font nullfont!
Missing character: There is no - in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no k in font nullfont!
! LaTeX Error: \caption outside float.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.17 \caption
{Allocation block}
You're in trouble here. Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Missing character: There is no A in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no a in font nullfont!
Missing character: There is no t in font nullfont!
Missing character: There is no i in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no n in font nullfont!
Missing character: There is no b in font nullfont!
Missing character: There is no l in font nullfont!
Missing character: There is no o in font nullfont!
Missing character: There is no c in font nullfont!
Missing character: There is no k in font nullfont!
! LaTeX Error: \begin{document} ended by \end{subfigure}.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.19 \end{subfigure}
Your command was ignored.
Type I <command> <return> to replace it with another command,
or <return> to continue without it.
! LaTeX Error: Environment subfigure undefined.
See the LaTeX manual or LaTeX Companion for explanation.
Type H <return> for immediate help.
...
l.20 \begin{subfigure}
{0.48\textwidth}
Your command was ignored.
Type I <command> <return> to replace it with another command,
or <return> to continue without it.
Missing character: There is no 0 in font nullfont!
Missing character: There is no . in font nullfont!
Missing character: There is no 4 in font nullfont!
Missing character: There is no 8 in font nullfont!
! Missing number, treated as zero.
<to be read again>
}
l.20 \begin{subfigure}{0.48\textwidth}
A number should have been here; I inserted `0'.
(If you can't figure out why I needed to see a number,
look up `weird error' in the index to The TeXbook.)
! Illegal unit of measure (pt inserted).
<to be read again>
}
l.20 \begin{subfigure}{0.48\textwidth}