From 872614f571293937063d0b9c3f5ebe37854fe800 Mon Sep 17 00:00:00 2001
From: a2nr <borni3s.burn@gmail.com>
Date: Wed, 29 Jan 2020 16:52:27 +0700
Subject: [PATCH] Persiapan bimbingan

---
 BAB2/bab2.tex                  |   6 +
 BAB2/img/plotMotion3Robot.png  | Bin 0 -> 26069 bytes
 BAB3/bab3.tex                  |  20 +-
 BAB4/DataOutMotion.csv         |  92 +++++++++
 BAB4/bab4.tex                  | 139 +++++++++++---
 BAB4/img/implement-control.dia | Bin 4321 -> 4763 bytes
 BAB4/img/implement-control.tex | 340 ++++++++++++++++++++-------------
 gantt.sty                      | 263 +++++++++++++++++++++++++
 thesis.tex                     |   4 +-
 uithesis.sty                   |   1 +
 10 files changed, 688 insertions(+), 177 deletions(-)
 create mode 100644 BAB2/img/plotMotion3Robot.png
 create mode 100644 BAB4/DataOutMotion.csv
 create mode 100644 gantt.sty

diff --git a/BAB2/bab2.tex b/BAB2/bab2.tex
index 108b884..e3de4c4 100644
--- a/BAB2/bab2.tex
+++ b/BAB2/bab2.tex
@@ -292,6 +292,12 @@ Dengan itu dapat digabungkan menjadi persamaan \textit{state-space} menggunakan
   \label{eq:ss-formasi}
 \end{align}
 
+\begin{figure}
+  \centering
+  \includegraphics[scale=.35]{BAB2/img/plotMotion3Robot.png}
+  \caption{Plot motion 3 robot dengan nilai kp=80 dan ki=1}
+\end{figure}
+
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 \section{Solusi Persamaan Differensial Secara Numerik}
diff --git a/BAB2/img/plotMotion3Robot.png b/BAB2/img/plotMotion3Robot.png
new file mode 100644
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diff --git a/BAB3/bab3.tex b/BAB3/bab3.tex
index f9a0013..d31e986 100644
--- a/BAB3/bab3.tex
+++ b/BAB3/bab3.tex
@@ -17,31 +17,33 @@ bidan kendali multi-robot, khususnya dalam kendali formasi.
 \section{Definisi Permasalahan Kendali Formasi}
 
 Kendali formasi adalah kendali multi-agent untuk mencapai suatu formasi yang diinginkan.
-Banyak metode yang telah digunakan berdasarkan berbagai macam kategori.
+% Banyak metode yang telah digunakan berdasarkan berbagai macam kategori.
 Dapat diperhatikan dalam gambar~\ref{fig:kerangka_pen}, dari berbagai metode teresebut
-dapat disimpulkan dalam 3 kategori secara general.
+dapat disimpulkan secara umum dalam 3 kategori.
 Yaitu berbasis posisi, pergerakan, dan jarak.
-Pembagian kategori tersebut berdasarkan kemampuan sensor yang digunakan dan
+Pembagian tersebut berdasarkan kemampuan sensor yang digunakan dan
 penggunaan komunikasi dalam metodenya.
 Dari ketiga kategori tersebut, kendali formati berbasis jarak sangat dibutuhkan pembahasan
 mengenai penerapan metode tersebut pada agent yang nyata.
 \textit{Simple model, Model real,} dan \textit{Real} dapat dikatakan sebuah tahap pengemabangan.
+
 \kutip{OH2015424} menyatakan bahwa mayoritas dari hasil penelitian yang menggunakan pendekatan ini (\textit{distance-based}) berfokus pada model agent dengan integrator-tunggal di suatu bidang datar.
-Gagasan agent \textit{simple model} tersebut memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan pada metode kendali multi-agent berdasarkan jarak.
-Dengan bertambahnya kepraktisan pada metode tersebut diharapkan dapat diterapkan dalam agent secara \textit{Real}.
+Gagasan agent \textit{simple model} memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan metode kendali multi-agent berdasarkan jarak.
+Dengan bertambahnya kepraktisan diharapkan dapat diterapkan dalam agent secara \textit{Real}.
 Pada penelitian oleh \kutip{Rozenheck2015}, kendali formasi berdasarkan jarak dikendalikan
 menggunakan kendali PI dan menghasilkan pergerakan yang baik.
 Dapat diperhatikan pada persamaan~\eqref{eq:modelorde2} bahwa peneliti menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya.
 Maka, penelitian ini akan difokuskan pada kendali formasi berbasis jarak
 kendali PI yang telah dilakukan sebelumnya dengan menggunakan model nyata.
+
 \section{Permasalah dan Solusi}
 
 Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, state yang digunakan membutuhkan koordinat relatif dari tetangganya.
 Akan tetapi pada batasan penelitian ini, sensor yang digunakan hanya memberikan jarak terhadap tetangganya.
-Sedangkan koordinat relatif tersebut berupa kartesian.
-Koordinat kartesian dapat diubah ke bentuk koordinat polar, atau sebaliknya.
-Akan tetapi koordinat polar membutuhkan sudut antara agent dan tetangganya.
-Oleh karena itu dibutuhkan algoritma khusus untuk menutup permasalahan tersebut.
+Sedangkan koordinat relatif yang digunakan adalah kartesian.
+Apabila yang diketahui adalah jarak maka koordinat yang bisa digunakanadalah polar.
+Sedangkan koordinat polar membutuhkan sudut antara agent dan tetangganya.
+Oleh karena itu dibutuhkan algoritma khusus untuk mendapatkan sudut tersebut.
 
 Untuk mengembangkan algoritma tersebut, dapat menggunakan hukum \textit{cosinus} segitiga untuk menentukan sudutnya.
 Dengan memanfaatkan komunikasi antar robot, maka robot dapat mengirimkan informasi state kecepatan kepada tetangganya.
diff --git a/BAB4/DataOutMotion.csv b/BAB4/DataOutMotion.csv
new file mode 100644
index 0000000..64f7dca
--- /dev/null
+++ b/BAB4/DataOutMotion.csv
@@ -0,0 +1,92 @@
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diff --git a/BAB4/bab4.tex b/BAB4/bab4.tex
index bca1440..081cf14 100644
--- a/BAB4/bab4.tex
+++ b/BAB4/bab4.tex
@@ -17,12 +17,6 @@ Metode HIL, banyak digunakan oleh peneliti dalam proses pengembangan dengan pert
 Seperti yang digunakan oleh~\kutip{Irwanto2018}, mengembangkan kendali UAV menggunakan HIL;
 dan \kutip{QUESADA2019275}, mengembangkan prangkat pankreas buatan yang digunakan untuk mengendalikan kadar gula pada pengidap diabetes.
 
-\begin{figure}
-\centering
-  \input{BAB4/img/Diagram_hil_controller.tex}
-  \caption{HIL Kendali Multi-Robot.}
-  \label{fig:hil_graph_1}
-\end{figure}
 
 Pada penelitian ini akan digunakan \textit{microcontroller}(MCU) STM32F466 sebagai prangkat kendalinya.
 MCU tersebut ber-arsitektur ARM Cortex-M4 dengan clock 180MHz, menampung ukuran program sampai 256K didalam memori Flash, serta fitur komunikasi standart MCU dengan lengkap.
@@ -39,15 +33,22 @@ Sedangkan komunikasi dengan PC akan mempresentasikan aktuator dan sensor untuk s
 kendali. PC akan merekam setiap keluaran dari model dan masukan dari setiap prangkat kendali
 sebagai tampilan pergerakan robotnya.
 
-\todo{
-   Tambahkan subsection mengenai
-   \begin{itemize}
-      %% \item pengembangan data/akuisisi data ?
-      % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll)
-      % \item skenario Analisa hasil
-      \item jadwal penelitian
-   \end{itemize}
-}
+\begin{figure}
+\centering
+  \input{BAB4/img/Diagram_hil_controller.tex}
+  \caption{HIL Kendali Multi-Robot.}
+  \label{fig:hil_graph_1}
+\end{figure}
+
+% \todo{
+%    Tambahkan subsection mengenai
+%    \begin{itemize}
+%       %% \item pengembangan data/akuisisi data ?
+%       % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll)
+%       % \item skenario Analisa hasil
+%       \item jadwal penelitian
+%    \end{itemize}
+% }
 
 \section{Strategi Kendali Multi Robot}
 
@@ -56,7 +57,7 @@ Kendali tingkat bawah akan membahas mengenai kendali robot secara individu, seda
 
 \subsection{Kendali Robot}
 Pada kendali robot akan dibahas mengenai analisis kendali robot menggunakan
-state-space feedback. Kendali robot ini adalah kendali tahap akhir dari kendali ke-
+state-space feedback. Kendali robot ini adalah kendali tingkat bawah dari kendali ke-
 seluruhan. Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, sebagai kendali tahap awal,
 bahwa state yang digunakan adalah koordinat. Maka koordinat tersebut akan men-
 jadi set point bagi robot. Variable yang dikendalikan pada kendali robot adalah
@@ -313,7 +314,8 @@ Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$.
 Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$.
 Setalah itu dapat ditentukan sudut $\alpha[k+1]$
 \begin{align}
-   \alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg]
+   \alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg]
+   \label{eq:algo_getAngle}
 \end{align}
 Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat.
 Sehingga diperlukan sedikit algoritma
@@ -345,13 +347,44 @@ mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$
 Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur
 berada pada sudut $90^\circ$.
 Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial.
-Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global pada kondisi inisial.
+Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global.
 
-\todo{ buat psudo code dari algoritma ini, sehingga dapat di ambil referensi ke bab lain}
 \begin{algorithm}
   \DontPrintSemicolon
-  TODO: make your algo here !
-  \label{algo:solution_purpose}
+  \KwInput{
+  Integer $l_a>0$,
+  $\tetangga_i=getConnectionRobot()$, }
+  \KwOutput{$x_i^j$}
+
+  \tcc{inisialisasi}
+  $dir = getRandomDirection()$\;
+  $d_{before} = getDistanceFromSensor(\tetangga_i)$\;
+  $r = \begin{bmatrix}
+      l_a \cos(rand(0,360)) \\
+      l_a \sin(rand(0,360))
+   \end{bmatrix}$\;
+
+  \tcc{Menjalankan robot hingga mencapai setpoint}
+  \While{isSetpointReached()}{
+    $runRobotToSetpoint(r)$\;
+  }
+
+  \tcc{Mengambil jarak setelah robot mencapai setpoint}
+  $d_{after} = getDistanceFromSensor(\tetangga_i)$\;
+
+  \tcc{Mengkalkulasi sudut}
+  $ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\;
+  \If{$d_{before}<d_{after}$}
+  {
+    $ang = 180-ang$\;
+  }
+  \tcc{Menjadikan koordinat kartesian}
+  $x_i^j = \begin{bmatrix}
+      d_{after} \cos(ang) \\
+      d_{after} \sin(ang)
+   \end{bmatrix}$\;
+  \caption{\textit{Algoritma inisialisasi}}
+  \label{algo:solution_initialitation}
 \end{algorithm}
 \subsubsection{Implementasi Kendali Formasi Dengan Kendali Robot}
 
@@ -376,6 +409,13 @@ Apabila diasumsikan state pada persamaan~\eqref{eq:ss-formasi} sebagai berikut
 maka $y_{rjn}$ adalah koordinat yang didapat dari algoritma atau hasil pengiriman data dari robot tetangga.
 Sedangkan $r$ pada persamaan~\eqref{eq:ss-control-robot-implement} adalah koordinat refrensi yang dihasilkan dari persamaan~\eqref{eq:ss-formasi}, $r = C_fx(t)$. Untuk lebih mudah dalam memahami dapat diperhatikan diagram pada gambar~\ref{fig:all-control}
 
+\section{Strategi Uji Coba}
+Strategi ujicoba akan diawali dengan menghitung kesetabilan menggunakan teori Euler pada Bab \ref{bab:dua:solusi_ODE}. 
+Langkah selanjutnya adalah percobaan terhadap Algoritma~\ref{algo:solution_initialitation} dengan kondisi robot tetangga dalam keadaan statis. 
+Percobaan tersebut bermaksut untuk menguji apakah algoritma berjalan dengan benar.
+Langkah terakhir adalah percobaan keseluruhan robot menggunakan Algoritma yang dikembangkan
+dengan skenario percobaan yang sama dengan penelitian sebelumnya oleh \kutip{Rozenheck2015}. 
+
 \begin{figure}
    \centering
    \input{BAB4/img/implement-control.tex}
@@ -383,14 +423,6 @@ Sedangkan $r$ pada persamaan~\eqref{eq:ss-control-robot-implement} adalah koordi
    \label{fig:all-control}
 \end{figure}
 
-\section{Strategi Uji Coba}
-Strategi ujicoba akan diawali dengan menghitung kesetabilan menggunakan teori Euler pada Bab \ref{bab:dua:solusi_ODE}. 
-Langkah selanjutnya adalah percobaan terhadap Algoritma~\ref{algo:solution_purpose} dengan kondisi robot tetangga dalam keadaan statis. 
-Percobaan tersebut bermaksut untuk menguji apakah algoritma berjalan dengan benar.
-Langkah terakhir adalah percobaan keseluruhan robot menggunakan Algoritma yang dikembangkan
-dengan skenario percobaan yang sama dengan penelitian sebelumnya oleh \kutip{Rozenheck2015}. 
-
-
 \subsection{Analisa Kesetabilan Model}
 Perhitungan kesetabilan akan menggunakan parameter model dari penelitian sebelumnya, dapat diperhatikan di Tabel \ref{tab:param_model}.
 Parameter tersebut akan diimplementasi di persamaan~\eqref{eq:ss1}-\eqref{eq:ss2}.
@@ -409,9 +441,56 @@ Dari hasil analisa ini akan menghasilkan jarak terbaik untuk algoritma menentuka
 
 \subsection{Analisa Percobaan Keseluruhan}
 
-Percobaan keseluruhan akan menjalankan Algoritma \ref{algo:solution_purpose} yang diterapkan pada seluruh robot. Lalu, seperti skenario penelitian sebelumnya salah satu robot diberikan kecepatan refrensi untuk bergerak ke arah tertentu.
+Percobaan keseluruhan akan menjalankan Algoritma \ref{algo:solution_initialitation} yang diterapkan pada seluruh robot. Lalu, seperti skenario penelitian sebelumnya salah satu robot diberikan kecepatan refrensi untuk bergerak ke arah tertentu.
 
 Dari hasil percobaan ini akan menghasilkan grafik respon dari keseluruhan robot terhadap perubahan error yang terjadi. 
 Dengan hipotesis, keseluruhan robot akan menjaga jarak formasi dengan baik.
 
+\subsection{Jadwal Penelitian}
+% \todo{
+% buat draftnya dan pakek library ini 
+% \url{
+% http://www.martin-kumm.de/wiki/doku.php?id=05Misc:A_LaTeX_package_for_gantt_plots
+% }
+% }
+\begin{enumerate}
+  \item Analisa kestabilan model 
+    \begin{enumerate}
+      \item Pengembangan dan test Individu Model(1)
+    \end{enumerate}
+  \item Analisa algoritma dengan tetangga statis 
+    \begin{enumerate}
+      \item Pengembangan dan test Kendali (1)
+      \item Pengembangan dan test Koneksi antara Individu Model dan Kendali (2)
+      \item Pengembangan dan test Algoritma dengan tetangga yang statis (2)
+    \end{enumerate}
+  \item Analisa algoritma keseluruhan 
+    \begin{enumerate}
+      \item Pengembangan dan test Algoritma komunikasi antar kendali (3)
+      \item Pengembangan dan test Algoritma keseluruhan (3)
+    \end{enumerate}
+\end{enumerate}
+\begin{gantt}{7}{12}
+  \begin{ganttitle}
+  \numtitle{1}{1}{12}{1}
+  \end{ganttitle}
+  \ganttbar{1.a}{0}{1}
+  \ganttbarcon{2.a}{1}{1}
+  \ganttbarcon{2.b}{2}{2}
+  \ganttbarcon{2.c}{4}{2}
+  \ganttbarcon{3.a}{6}{3}
+  \ganttbarcon{3.b}{9}{3}
+  % \ganttbar{task 1}{0}{2}
+  % \ganttbarcon{task 2}{2}{4}
+  % \ganttbarcon{task 3}{8}{2}
+  % \ganttmilestone[color=cyan]{task 4}{4}
+  % \ganttbar{task 5}{2}{2}
+  % \ganttbar[color=cyan]{task 6}{4}{4}
+  % \ganttbar{task 7}{4}{2}
+  % \ganttcon{4}{5}{4}{7}
+  % \ganttmilestonecon{task 8}{7}
+  % \ganttbarcon{task 9}{8}{2}
+\end{gantt}
+
+
 %% \subsection{
diff --git a/BAB4/img/implement-control.dia b/BAB4/img/implement-control.dia
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diff --git a/BAB4/img/implement-control.tex b/BAB4/img/implement-control.tex
index 01fed05..a34a6c8 100644
--- a/BAB4/img/implement-control.tex
+++ b/BAB4/img/implement-control.tex
@@ -1,7 +1,7 @@
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-% CreationDate: Fri Dec 20 17:01:35 2019
+% CreationDate: Wed Jan 29 15:54:13 2020
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@@ -20,82 +20,110 @@
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 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (30.406291\du,13.678091\du)--(30.746915\du,14.018715\du)--(30.406291\du,14.359341\du);
+\draw (30.356291\du,12.978091\du)--(30.696915\du,13.318715\du)--(30.356291\du,13.659341\du);
 \pgfsetlinewidth{0.000100\du}
 \pgfsetbuttcap
 \pgfsetmiterjoin
 \pgfsetdash{}{0pt}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetfillcolor{dialinecolor}
-\pgfpathmoveto{\pgfpoint{31.087541\du}{13.678091\du}}
-\pgfpathcurveto{\pgfpoint{31.087541\du}{13.678091\du}}{\pgfpoint{31.228630\du}{13.802896\du}}{\pgfpoint{31.228630\du}{14.018715\du}}
-\pgfpathcurveto{\pgfpoint{31.228630\du}{14.234533\du}}{\pgfpoint{31.087541\du}{14.359341\du}}{\pgfpoint{31.087541\du}{14.359341\du}}
-\pgfpathlineto{\pgfpoint{30.746915\du}{14.018715\du}}
-\pgfpathlineto{\pgfpoint{31.087541\du}{13.678091\du}}
+\pgfpathmoveto{\pgfpoint{31.037541\du}{12.978091\du}}
+\pgfpathcurveto{\pgfpoint{31.037541\du}{12.978091\du}}{\pgfpoint{31.178630\du}{13.102896\du}}{\pgfpoint{31.178630\du}{13.318715\du}}
+\pgfpathcurveto{\pgfpoint{31.178630\du}{13.534533\du}}{\pgfpoint{31.037541\du}{13.659341\du}}{\pgfpoint{31.037541\du}{13.659341\du}}
+\pgfpathlineto{\pgfpoint{30.696915\du}{13.318715\du}}
+\pgfpathlineto{\pgfpoint{31.037541\du}{12.978091\du}}
 \pgfusepath{fill}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\pgfpathmoveto{\pgfpoint{31.087541\du}{13.678091\du}}
-\pgfpathcurveto{\pgfpoint{31.087541\du}{13.678091\du}}{\pgfpoint{31.228630\du}{13.802896\du}}{\pgfpoint{31.228630\du}{14.018715\du}}
-\pgfpathcurveto{\pgfpoint{31.228630\du}{14.234533\du}}{\pgfpoint{31.087541\du}{14.359341\du}}{\pgfpoint{31.087541\du}{14.359341\du}}
-\pgfpathlineto{\pgfpoint{30.746915\du}{14.018715\du}}
-\pgfpathlineto{\pgfpoint{31.087541\du}{13.678091\du}}
+\pgfpathmoveto{\pgfpoint{31.037541\du}{12.978091\du}}
+\pgfpathcurveto{\pgfpoint{31.037541\du}{12.978091\du}}{\pgfpoint{31.178630\du}{13.102896\du}}{\pgfpoint{31.178630\du}{13.318715\du}}
+\pgfpathcurveto{\pgfpoint{31.178630\du}{13.534533\du}}{\pgfpoint{31.037541\du}{13.659341\du}}{\pgfpoint{31.037541\du}{13.659341\du}}
+\pgfpathlineto{\pgfpoint{30.696915\du}{13.318715\du}}
+\pgfpathlineto{\pgfpoint{31.037541\du}{12.978091\du}}
 \pgfusepath{stroke}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -164,7 +192,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (32.240420\du,16.930983\du)--(30.742500\du,16.931100\du)--(30.746099\du,14.549132\du);
+\draw (32.190391\du,16.230983\du)--(30.692500\du,16.231100\du)--(30.696111\du,13.849145\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -177,7 +205,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (27.983969\du,14.026602\du)--(30.216295\du,14.020230\du);
+\draw (27.933969\du,13.326602\du)--(30.166295\du,13.320230\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -190,7 +218,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (30.789233\du,11.923482\du)--(30.757167\du,13.511146\du);
+\draw (30.739233\du,11.223482\du)--(30.707167\du,12.811146\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -203,22 +231,22 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (31.278812\du,14.019814\du)--(34.002358\du,14.025440\du);
+\draw (31.228812\du,13.319814\du)--(33.952358\du,13.325440\du);
 }
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (35.530900\du,9.989040\du)--(35.530900\du,11.889040\du)--(38.145900\du,11.889040\du)--(38.145900\du,9.989040\du)--cycle;
+\fill (35.480900\du,9.289040\du)--(35.480900\du,11.189040\du)--(38.095900\du,11.189040\du)--(38.095900\du,9.289040\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (35.530900\du,9.989040\du)--(35.530900\du,11.889040\du)--(38.145900\du,11.889040\du)--(38.145900\du,9.989040\du)--cycle;
+\draw (35.480900\du,9.289040\du)--(35.480900\du,11.189040\du)--(38.095900\du,11.189040\du)--(38.095900\du,9.289040\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (36.838400\du,11.056540\du){sgn};
+\node at (36.788400\du,10.356540\du){sgn};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -231,7 +259,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (37.025681\du,14.063794\du)--(37.017827\du,16.967433\du)--(34.379062\du,16.941481\du);
+\draw (36.975681\du,13.363794\du)--(36.967800\du,16.267400\du)--(34.328614\du,16.241437\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -244,37 +272,37 @@
 \pgfsetdash{}{0pt}
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\pgfpathellipse{\pgfpoint{23.937515\du}{14.059215\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
+\pgfpathellipse{\pgfpoint{23.919915\du}{13.326815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
 \pgfusepath{fill}
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-\pgfpathellipse{\pgfpoint{23.937515\du}{14.059215\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
+\pgfpathellipse{\pgfpoint{23.919915\du}{13.326815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
 \pgfusepath{stroke}
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-\draw (23.596891\du,13.718591\du)--(23.937515\du,14.059215\du)--(23.596891\du,14.399841\du);
+\draw (23.579291\du,12.986191\du)--(23.919915\du,13.326815\du)--(23.579291\du,13.667441\du);
 \pgfsetlinewidth{0.000100\du}
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 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
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-\pgfpathmoveto{\pgfpoint{24.278141\du}{13.718591\du}}
-\pgfpathcurveto{\pgfpoint{24.278141\du}{13.718591\du}}{\pgfpoint{24.419230\du}{13.843396\du}}{\pgfpoint{24.419230\du}{14.059215\du}}
-\pgfpathcurveto{\pgfpoint{24.419230\du}{14.275033\du}}{\pgfpoint{24.278141\du}{14.399841\du}}{\pgfpoint{24.278141\du}{14.399841\du}}
-\pgfpathlineto{\pgfpoint{23.937515\du}{14.059215\du}}
-\pgfpathlineto{\pgfpoint{24.278141\du}{13.718591\du}}
+\pgfpathmoveto{\pgfpoint{24.260541\du}{12.986191\du}}
+\pgfpathcurveto{\pgfpoint{24.260541\du}{12.986191\du}}{\pgfpoint{24.401630\du}{13.110996\du}}{\pgfpoint{24.401630\du}{13.326815\du}}
+\pgfpathcurveto{\pgfpoint{24.401630\du}{13.542633\du}}{\pgfpoint{24.260541\du}{13.667441\du}}{\pgfpoint{24.260541\du}{13.667441\du}}
+\pgfpathlineto{\pgfpoint{23.919915\du}{13.326815\du}}
+\pgfpathlineto{\pgfpoint{24.260541\du}{12.986191\du}}
 \pgfusepath{fill}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\pgfpathmoveto{\pgfpoint{24.278141\du}{13.718591\du}}
-\pgfpathcurveto{\pgfpoint{24.278141\du}{13.718591\du}}{\pgfpoint{24.419230\du}{13.843396\du}}{\pgfpoint{24.419230\du}{14.059215\du}}
-\pgfpathcurveto{\pgfpoint{24.419230\du}{14.275033\du}}{\pgfpoint{24.278141\du}{14.399841\du}}{\pgfpoint{24.278141\du}{14.399841\du}}
-\pgfpathlineto{\pgfpoint{23.937515\du}{14.059215\du}}
-\pgfpathlineto{\pgfpoint{24.278141\du}{13.718591\du}}
+\pgfpathmoveto{\pgfpoint{24.260541\du}{12.986191\du}}
+\pgfpathcurveto{\pgfpoint{24.260541\du}{12.986191\du}}{\pgfpoint{24.401630\du}{13.110996\du}}{\pgfpoint{24.401630\du}{13.326815\du}}
+\pgfpathcurveto{\pgfpoint{24.401630\du}{13.542633\du}}{\pgfpoint{24.260541\du}{13.667441\du}}{\pgfpoint{24.260541\du}{13.667441\du}}
+\pgfpathlineto{\pgfpoint{23.919915\du}{13.326815\du}}
+\pgfpathlineto{\pgfpoint{24.260541\du}{12.986191\du}}
 \pgfusepath{stroke}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -287,7 +315,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (24.419200\du,14.059200\du)--(25.876695\du,14.042044\du);
+\draw (24.401630\du,13.326815\du)--(25.826390\du,13.328414\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -300,7 +328,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (21.904590\du,14.049299\du)--(23.455800\du,14.059200\du);
+\draw (21.943843\du,13.336087\du)--(23.438200\du,13.326815\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -314,7 +342,7 @@
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 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
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-\draw (25.839033\du,18.252271\du)--(23.967878\du,18.242428\du)--(23.941360\du,14.590785\du);
+\draw (25.789042\du,17.552258\du)--(23.917900\du,17.542400\du)--(23.919661\du,13.858395\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -328,22 +356,22 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (37.025681\du,14.063794\du)--(37.017827\du,18.267428\du)--(28.210835\du,18.259563\du);
+\draw (36.975681\du,13.363794\du)--(36.967800\du,17.567400\du)--(28.160831\du,17.559557\du);
 }}
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
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+\fill (29.759400\du,9.274960\du)--(29.759400\du,11.174960\du)--(31.759400\du,11.174960\du)--(31.759400\du,9.274960\du)--cycle;
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 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
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-\draw (29.809400\du,9.974960\du)--(29.809400\du,11.874960\du)--(31.809400\du,11.874960\du)--(31.809400\du,9.974960\du)--cycle;
+\draw (29.759400\du,9.274960\du)--(29.759400\du,11.174960\du)--(31.759400\du,11.174960\du)--(31.759400\du,9.274960\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (30.809400\du,11.042460\du){K};
+\node at (30.759400\du,10.342460\du){K};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -355,82 +383,82 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (35.480918\du,10.935870\du)--(31.858882\du,10.927411\du);
+\draw (35.430918\du,10.235870\du)--(31.808882\du,10.227411\du);
 }
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (24.698400\du,13.515600\du){u};
+\node[anchor=west] at (24.648400\du,12.815600\du){u};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (29.042800\du,13.272400\du){};
+\node[anchor=west] at (28.992800\du,12.572400\du){};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (25.646800\du,13.976000\du){};
+\node[anchor=west] at (25.596800\du,13.276000\du){};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (36.896700\du,13.603100\du){$x_r$};
+\node[anchor=west] at (36.846700\du,12.903100\du){$x_r$};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (40.292814\du,15.717428\du){$y_r$};
+\node[anchor=west] at (40.242800\du,15.017400\du){$y_r$};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
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+\fill (33.998300\du,12.377600\du)--(33.998300\du,14.277600\du)--(35.998300\du,14.277600\du)--(35.998300\du,12.377600\du)--cycle;
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 \pgfsetmiterjoin
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-\draw (34.048300\du,13.077600\du)--(34.048300\du,14.977600\du)--(36.048300\du,14.977600\du)--(36.048300\du,13.077600\du)--cycle;
+\draw (33.998300\du,12.377600\du)--(33.998300\du,14.277600\du)--(35.998300\du,14.277600\du)--(35.998300\du,12.377600\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (35.048300\du,14.145100\du){$\int$};
+\node at (34.998300\du,13.445100\du){$\int$};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (31.923600\du,13.615500\du){$\dot{x}_r$};
+\node[anchor=west] at (31.873600\du,12.915500\du){$\dot{x}_r$};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (25.949852\du,25.438042\du)--(25.949852\du,27.338042\du)--(27.952352\du,27.338042\du)--(27.952352\du,25.438042\du)--cycle;
+\fill (25.949900\du,25.438000\du)--(25.949900\du,27.338000\du)--(27.952400\du,27.338000\du)--(27.952400\du,25.438000\du)--cycle;
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 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (25.949852\du,25.438042\du)--(25.949852\du,27.338042\du)--(27.952352\du,27.338042\du)--(27.952352\du,25.438042\du)--cycle;
+\draw (25.949900\du,25.438000\du)--(25.949900\du,27.338000\du)--(27.952400\du,27.338000\du)--(27.952400\du,25.438000\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (26.951102\du,26.505542\du){$A_f$};
+\node at (26.951150\du,26.505500\du){$A_f$};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (27.328002\du,23.506242\du){};
+\node[anchor=west] at (27.328000\du,23.506200\du){};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (27.328002\du,23.506242\du){};
+\node[anchor=west] at (27.328000\du,23.506200\du){};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (31.262009\du,22.449342\du)--(31.262009\du,24.349342\du)--(33.262009\du,24.349342\du)--(33.262009\du,22.449342\du)--cycle;
+\fill (31.262000\du,22.449300\du)--(31.262000\du,24.349300\du)--(33.262000\du,24.349300\du)--(33.262000\du,22.449300\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (31.262009\du,22.449342\du)--(31.262009\du,24.349342\du)--(33.262009\du,24.349342\du)--(33.262009\du,22.449342\du)--cycle;
+\draw (31.262000\du,22.449300\du)--(31.262000\du,24.349300\du)--(33.262000\du,24.349300\du)--(33.262000\du,22.449300\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (32.262009\du,23.516842\du){$C_f$};
+\node at (32.262000\du,23.516800\du){$C_f$};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -442,7 +470,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (29.741754\du,23.459628\du)--(31.212157\du,23.424455\du);
+\draw (29.741750\du,23.459587\du)--(31.212150\du,23.424413\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -455,37 +483,37 @@
 \pgfsetdash{}{0pt}
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\pgfpathellipse{\pgfpoint{24.390517\du}{23.475857\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
+\pgfpathellipse{\pgfpoint{24.390515\du}{23.475815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
 \pgfusepath{fill}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\pgfpathellipse{\pgfpoint{24.390517\du}{23.475857\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
+\pgfpathellipse{\pgfpoint{24.390515\du}{23.475815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}}
 \pgfusepath{stroke}
 \pgfsetbuttcap
 \pgfsetmiterjoin
 \pgfsetdash{}{0pt}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (24.049893\du,23.135233\du)--(24.390517\du,23.475857\du)--(24.049893\du,23.816482\du);
+\draw (24.049891\du,23.135191\du)--(24.390515\du,23.475815\du)--(24.049891\du,23.816441\du);
 \pgfsetlinewidth{0.000100\du}
 \pgfsetbuttcap
 \pgfsetmiterjoin
 \pgfsetdash{}{0pt}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetfillcolor{dialinecolor}
-\pgfpathmoveto{\pgfpoint{24.731143\du}{23.135233\du}}
-\pgfpathcurveto{\pgfpoint{24.731143\du}{23.135233\du}}{\pgfpoint{24.872232\du}{23.260037\du}}{\pgfpoint{24.872232\du}{23.475857\du}}
-\pgfpathcurveto{\pgfpoint{24.872232\du}{23.691675\du}}{\pgfpoint{24.731143\du}{23.816482\du}}{\pgfpoint{24.731143\du}{23.816482\du}}
-\pgfpathlineto{\pgfpoint{24.390517\du}{23.475857\du}}
-\pgfpathlineto{\pgfpoint{24.731143\du}{23.135233\du}}
+\pgfpathmoveto{\pgfpoint{24.731141\du}{23.135191\du}}
+\pgfpathcurveto{\pgfpoint{24.731141\du}{23.135191\du}}{\pgfpoint{24.872230\du}{23.259996\du}}{\pgfpoint{24.872230\du}{23.475815\du}}
+\pgfpathcurveto{\pgfpoint{24.872230\du}{23.691633\du}}{\pgfpoint{24.731141\du}{23.816441\du}}{\pgfpoint{24.731141\du}{23.816441\du}}
+\pgfpathlineto{\pgfpoint{24.390515\du}{23.475815\du}}
+\pgfpathlineto{\pgfpoint{24.731141\du}{23.135191\du}}
 \pgfusepath{fill}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\pgfpathmoveto{\pgfpoint{24.731143\du}{23.135233\du}}
-\pgfpathcurveto{\pgfpoint{24.731143\du}{23.135233\du}}{\pgfpoint{24.872232\du}{23.260037\du}}{\pgfpoint{24.872232\du}{23.475857\du}}
-\pgfpathcurveto{\pgfpoint{24.872232\du}{23.691675\du}}{\pgfpoint{24.731143\du}{23.816482\du}}{\pgfpoint{24.731143\du}{23.816482\du}}
-\pgfpathlineto{\pgfpoint{24.390517\du}{23.475857\du}}
-\pgfpathlineto{\pgfpoint{24.731143\du}{23.135233\du}}
+\pgfpathmoveto{\pgfpoint{24.731141\du}{23.135191\du}}
+\pgfpathcurveto{\pgfpoint{24.731141\du}{23.135191\du}}{\pgfpoint{24.872230\du}{23.259996\du}}{\pgfpoint{24.872230\du}{23.475815\du}}
+\pgfpathcurveto{\pgfpoint{24.872230\du}{23.691633\du}}{\pgfpoint{24.731141\du}{23.816441\du}}{\pgfpoint{24.731141\du}{23.816441\du}}
+\pgfpathlineto{\pgfpoint{24.390515\du}{23.475815\du}}
+\pgfpathlineto{\pgfpoint{24.731141\du}{23.135191\du}}
 \pgfusepath{stroke}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -499,7 +527,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (25.904061\du,26.388123\du)--(24.386102\du,26.388242\du)--(24.389713\du,24.006286\du);
+\draw (25.904059\du,26.388082\du)--(24.386100\du,26.388200\du)--(24.389699\du,24.006314\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -512,7 +540,7 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (21.979918\du,23.467570\du)--(23.908802\du,23.475857\du);
+\draw (21.979920\du,23.467567\du)--(23.908800\du,23.475900\du);
 }
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -525,66 +553,66 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (24.922415\du,23.476955\du)--(27.645960\du,23.482581\du);
+\draw (24.922412\du,23.476914\du)--(27.645958\du,23.482540\du);
 }
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (37.967823\du,26.142397\du){x};
+\node[anchor=west] at (37.967800\du,26.142400\du){x};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (31.717848\du,21.917414\du){y};
+\node[anchor=west] at (31.717800\du,21.917400\du){y};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (27.691902\du,22.534742\du)--(27.691902\du,24.434742\du)--(29.691902\du,24.434742\du)--(29.691902\du,22.534742\du)--cycle;
+\fill (27.691900\du,22.534700\du)--(27.691900\du,24.434700\du)--(29.691900\du,24.434700\du)--(29.691900\du,22.534700\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (27.691902\du,22.534742\du)--(27.691902\du,24.434742\du)--(29.691902\du,24.434742\du)--(29.691902\du,22.534742\du)--cycle;
+\draw (27.691900\du,22.534700\du)--(27.691900\du,24.434700\du)--(29.691900\du,24.434700\du)--(29.691900\du,22.534700\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (28.691902\du,23.602242\du){$\int$};
+\node at (28.691900\du,23.602200\du){$\int$};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (25.567202\du,23.072642\du){$\dot{x}$};
+\node[anchor=west] at (25.567200\du,23.072600\du){$\dot{x}$};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (19.915395\du,22.513030\du)--(19.915395\du,24.413030\du)--(21.930395\du,24.413030\du)--(21.930395\du,22.513030\du)--cycle;
+\fill (19.915400\du,22.513000\du)--(19.915400\du,24.413000\du)--(21.930400\du,24.413000\du)--(21.930400\du,22.513000\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (19.915395\du,22.513030\du)--(19.915395\du,24.413030\du)--(21.930395\du,24.413030\du)--(21.930395\du,22.513030\du)--cycle;
+\draw (19.915400\du,22.513000\du)--(19.915400\du,24.413000\du)--(21.930400\du,24.413000\du)--(21.930400\du,22.513000\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (20.922895\du,23.580530\du){$B_f$};
+\node at (20.922900\du,23.580500\du){$B_f$};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (38.702810\du,25.442382\du)--(38.702810\du,27.342382\du)--(41.217810\du,27.342382\du)--(41.217810\du,25.442382\du)--cycle;
+\fill (38.702800\du,25.442400\du)--(38.702800\du,27.342400\du)--(41.217800\du,27.342400\du)--(41.217800\du,25.442400\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (38.702810\du,25.442382\du)--(38.702810\du,27.342382\du)--(41.217810\du,27.342382\du)--(41.217810\du,25.442382\du)--cycle;
+\draw (38.702800\du,25.442400\du)--(38.702800\du,27.342400\du)--(41.217800\du,27.342400\du)--(41.217800\du,25.442400\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (39.960310\du,26.587382\du){Algo};
+\node at (39.960300\du,26.587400\du){Algo};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (39.542817\du,15.842438\du){};
+\node[anchor=west] at (39.492800\du,15.142400\du){};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -597,7 +625,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (32.263491\du,22.413699\du)--(32.267846\du,19.517423\du)--(20.892891\du,19.517423\du)--(20.861922\du,15.042731\du);
+\draw (32.263473\du,22.413661\du)--(32.267800\du,19.517400\du)--(20.892900\du,19.517400\du)--(20.893982\du,14.337563\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -611,36 +639,36 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (38.652958\du,26.391946\du)--(28.000795\du,26.388392\du);
+\draw (38.652948\du,26.391958\du)--(28.002778\du,26.388356\du);
 }}
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (34.300331\du,20.292418\du)--(34.300331\du,22.192418\du)--(37.810331\du,22.192418\du)--(37.810331\du,20.292418\du)--cycle;
+\fill (34.300300\du,20.292400\du)--(34.300300\du,22.192400\du)--(37.810300\du,22.192400\du)--(37.810300\du,20.292400\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (34.300331\du,20.292418\du)--(34.300331\du,22.192418\du)--(37.810331\du,22.192418\du)--(37.810331\du,20.292418\du)--cycle;
+\draw (34.300300\du,20.292400\du)--(34.300300\du,22.192400\du)--(37.810300\du,22.192400\du)--(37.810300\du,20.292400\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (36.055331\du,21.437418\du){Sensor};
+\node at (36.055300\du,21.437400\du){Sensor};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (33.824083\du,19.881170\du)--(33.824083\du,21.781170\du)--(37.334083\du,21.781170\du)--(37.334083\du,19.881170\du)--cycle;
+\fill (33.824100\du,19.881200\du)--(33.824100\du,21.781200\du)--(37.334100\du,21.781200\du)--(37.334100\du,19.881200\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (33.824083\du,19.881170\du)--(33.824083\du,21.781170\du)--(37.334083\du,21.781170\du)--(37.334083\du,19.881170\du)--cycle;
+\draw (33.824100\du,19.881200\du)--(33.824100\du,21.781200\du)--(37.334100\du,21.781200\du)--(37.334100\du,19.881200\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (35.579083\du,21.026170\du){Sensor};
+\node at (35.579100\du,21.026200\du){Sensor};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -653,7 +681,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (39.944776\du,15.115158\du)--(39.958936\du,25.394424\du);
+\draw (39.898555\du,14.417028\du)--(39.955145\du,25.392572\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -666,30 +694,30 @@
 \pgfsetarrowsend{stealth}
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (36.812302\du,22.240727\du)--(39.203339\du,25.394074\du);
+\draw (36.812275\du,22.240715\du)--(39.203325\du,25.394085\du);
 }
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (36.592829\du,23.467408\du){};
+\node[anchor=west] at (36.592800\du,23.467400\du){};
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (37.940323\du,23.062411\du){$y_{rji}$};
+\node[anchor=west] at (37.940300\du,23.062400\du){$y_{rji}$};
 \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
 \pgfsetfillcolor{dialinecolor}
-\fill (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle;
+\fill (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle;
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
 \pgfsetmiterjoin
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle;
+\draw (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle;
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node at (24.397881\du,21.087422\du){B};
+\node at (24.397900\du,21.087400\du){B};
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
 \pgfsetdash{}{0pt}
@@ -702,7 +730,7 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (24.394943\du,21.969604\du)--(24.392080\du,22.944202\du);
+\draw (24.394948\du,21.969608\du)--(24.392070\du,22.944232\du);
 }}
 \pgfsetlinewidth{0.100000\du}
 \pgfsetdash{}{0pt}
@@ -716,10 +744,50 @@
 \pgfsetarrowsend{stealth}
 {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\draw (21.517888\du,20.992417\du)--(23.340032\du,20.978184\du);
+\draw (21.517900\du,20.992400\du)--(23.340048\du,20.978164\du);
 }}
 % setfont left to latex
 \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
 \pgfsetstrokecolor{dialinecolor}
-\node[anchor=west] at (19.865395\du,21.112419\du){$v_{ref}$};
+\node[anchor=west] at (19.865400\du,21.112400\du){$v_{ref}$};
+\pgfsetlinewidth{0.100000\du}
+\pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm}
+\pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm}
+\pgfsetbuttcap
+{
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetfillcolor{dialinecolor}
+% was here!!!
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\draw (34.335007\du,28.700177\du)--(36.891799\du,28.700177\du);
+}
+% setfont left to latex
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\node[anchor=west] at (37.070180\du,28.878558\du){Tingkat Akhir};
+\pgfsetlinewidth{0.100000\du}
+\pgfsetdash{{1.000000\du}{1.000000\du}}{0\du}
+\pgfsetdash{{0.300000\du}{0.300000\du}}{0\du}
+\pgfsetbuttcap
+{
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetfillcolor{dialinecolor}
+% was here!!!
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\draw (34.307709\du,29.642081\du)--(36.864500\du,29.642081\du);
+}
+% setfont left to latex
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\node[anchor=west] at (37.105856\du,29.800192\du){Tingkat Awal};
+% setfont left to latex
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\node[anchor=west] at (38.972908\du,29.711001\du){};
+% setfont left to latex
+\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
+\pgfsetstrokecolor{dialinecolor}
+\node[anchor=west] at (39.062099\du,29.681271\du){};
 \end{tikzpicture}
diff --git a/gantt.sty b/gantt.sty
new file mode 100644
index 0000000..2ac637a
--- /dev/null
+++ b/gantt.sty
@@ -0,0 +1,263 @@
+\ProvidesPackage{gantt}[2011/03/20 Some macros for drawing gantt diagrams using tkiz v.1.3]
+% Some macros for drawing gantt diagrams using tkiz.
+%
+% Martin Kumm, 17.05.2010 (Version 1.0)
+% Alan Munn, Martin Kumm, 14.03.2011 (Version 1.2)
+% Andrés Silva Marambio, 20.03.2011 (Version 1.3)
+% 
+% Update 20.03.2011, Version 1.3
+%
+% changes from v1.2:
+% change \ProvidesPackage{gantt.sty} for \ProvidesPackage{gantt}
+% add \bfseries for the command \ganttgroup
+% add two newcommands for doing Gantt Milestones: \ganttmilestone and \ganttmilestonecon
+% usage: \ganttmilestone[color=<color>]{label}{start} - Create a gantt milestone using a diamond
+% usage: \ganttmilestonecon[color=<color>]{label}{start} - Create a gantt milestone using a diamond and conect with the previuos itemg
+% fixed the issue when \ganttbarcon or \ganttmilestonecon connect in decimal positions
+%
+% Update 15.03.2011, Version 1.2
+%
+% changes from v1.1:
+% px sizes has ben changed ot pt due to problems with some LaTeX distributions (thanks to Michael Kubovy and Loïc Le Guyader!)
+% Correction of the text aligned in \titleelement (thanks to Josh Hykes!)
+% \unitlength was changed to \ganttunitlength (thanks to Alan Munn!)
+% \RequirePackage was added (thanks to Alan Munn!)
+% 
+% Update 05.08.2010, Version 1.1
+%
+% changes from v1.0:
+% \ganttbar and \ganttbarcon have been extended with the xkeyval syntax
+% The pattern of the bar is now independent of the color and can be set by 
+% e.g. \ganttbar[pattern=horizontal lines,color=blue]{...}{1}{1}
+% This syntax is incompatible with the previous ones!
+% replace \ganttbar[<pattern>] with \ganttbar[pattern=<pattern>]
+
+\RequirePackage{tikz,pgffor,xkeyval,ifthen,calc,forloop}
+
+\usetikzlibrary{patterns}
+\usetikzlibrary{arrows}
+
+\newcounter{ganttnum}
+\newcounter{ganttwidth}
+
+\newlength{\ganttlastx}
+\setlength{\ganttlastx}{0cm}
+
+\newlength{\nextganttlastx}
+
+\newlength{\gantttmpa}
+\newlength{\gantttmpb}
+\newlength{\ganttunitlength}
+
+\setlength{\ganttunitlength}{1cm}
+
+\newlength{\titleunitlength}
+\setlength{\titleunitlength}{1cm}
+
+\newcounter{gantttitlenum}
+
+\define@key{ganttx}{xunitlength}{%
+  \setlength{\ganttunitlength}{#1}
+}
+\define@boolkey{ganttx}{drawledgerline}{}
+
+\define@key{ganttx}{fontsize}{\def\ganttfontsize{#1}}
+\define@key{ganttx}{titlefontsize}{\def\gantttitlefontsize{#1}}
+
+\presetkeys{ganttx}{drawledgerline=false,xunitlength=1cm,titlefontsize=\small,fontsize=\normalsize}{}
+
+\define@key{ganttbarx}{pattern}{\def\ganttbarpattern{#1}}
+\define@key{ganttbarx}{color}{\def\ganttbarcolor{#1}}
+
+\presetkeys{ganttbarx}{pattern=north west lines,color=black}{}
+
+
+% The gantt environment draws the canvas of a gantt figure (realized as tikzpicture)
+% The usage is \begin{gantt}[...]{no of Tasks to plot}{no of time slots}
+% The optional argument [...] can be filled in a key=value syntax, using one or more of the following keys:
+%
+% xunitlength - length of one time slot (default: 1 cm)
+% fontsize - fontsize of labels (default: \normalsize)
+% titlefontsize - fontsize of title section (default: \small)
+% drawledgerline  - Switch to enable/disable the drawing of horizontal ledger lines (default value: false)
+
+\newenvironment{gantt}[3][]{%
+  \begin{tikzpicture}[draw=black, yscale=.7,xscale=1]
+  \tikzstyle{time}=[coordinate]
+  \setkeys{ganttx}{#1}{%
+      \setcounter{ganttwidth}{#3}
+
+      \setcounter{ganttnum}{0}
+      \newcount\ganttx
+      \newcount\ganttheight
+      \ganttheight=#2 %define the number of Y ticks
+      \advance\ganttheight by 1
+
+      \def\ganttxstringtop{};
+      \def\ganttxstringbottom{};
+
+      \ganttx=0
+      \draw (0,0.5) node[above] {\ganttxstringtop} -- (0,1.4-\ganttheight)  node[below] {\ganttxstringbottom};
+      \draw (\value{ganttwidth}*\ganttunitlength,0.5) node[above] {\ganttxstringtop} -- (\value{ganttwidth}*\ganttunitlength,1.4-\ganttheight)  node[below] {\ganttxstringbottom};
+
+      %draw grid
+      \foreach \t in {1,2,...,\value{ganttwidth}}{
+        \ganttx=1
+        \multiply\ganttx by \t
+
+        \draw[dotted] (\ganttunitlength*\t,-0.5) node[above] {\ganttxstringtop} -- (\ganttunitlength*\t,1.4-\ganttheight)  node[below] {\ganttxstringbottom};
+      }
+     %draw x axis
+     \draw[] (0,-#2+0.4) -- (\value{ganttwidth}*\ganttunitlength,-#2+0.4);
+}
+}{\end{tikzpicture}}
+
+
+% ganttitle is the environment for drawing the title section
+\newenvironment{ganttitle}[1][]{%
+  \setlength{\ganttlastx}{0 cm}
+}{%
+  \setlength{\ganttlastx}{0 cm}
+  \addtocounter{ganttnum}{-1}%
+}
+
+% \titleelement draws one element of the title
+% usage: \titleelement{label}{length}
+\newcommand{\titleelement}[2]{
+  \setlength{\gantttmpa}{\ganttunitlength*#2}
+  \divide\gantttmpa by 2;
+
+  \draw (\the\ganttlastx,\value{ganttnum}) rectangle (\the\ganttlastx+#2*\ganttunitlength,\value{ganttnum}+0.6);
+  \node [text height=1.5ex,text depth=0.7ex] at (\the\ganttlastx+\the\gantttmpa,\value{ganttnum}+0.25) {%
+    \gantttitlefontsize #1%
+  };
+  \setlength{\ganttlastx}{\ganttlastx+\ganttunitlength*\real{#2}}
+}
+
+
+% \numtitle draws a numbered sequence of title elements
+% usage: \numtitle{start number}{increment}{end number}{length of each title element}
+\newcommand{\numtitle}[4]{
+  \forloop[#2]{gantttitlenum}{#1}{\(\value{gantttitlenum} < #3\) \or \(\value{gantttitlenum} = #3\)}%
+  {%
+    \titleelement{\thegantttitlenum}{#4}
+  }
+}
+
+% \ganttbar draws a single, unconnected bar for representing a task
+% usage: \ganttbar[pattern=<pattern>,color=<color>]{label}{start}{length}
+% where the optional comma separated arguments are:
+% pattern - is a tikz pattern (e.g. north west lines (default), north east lines, crosshatch, crosshatch dots, grid, ...)
+% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray)
+% for more information see the tikz documentation
+\newcommand{\ganttbar}[4][]{
+  \setlength{\gantttmpa}{#3\ganttunitlength}
+  \setlength{\gantttmpb}{#4\ganttunitlength}
+  \setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
+
+  \ifKV@ganttx@drawledgerline
+    \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
+  \fi
+  \node at (0,\value{ganttnum}) [anchor=base east] {%
+		\ganttfontsize #2%
+  };
+  \setkeys{ganttbarx}{#1}{%
+  \draw[pattern=\ganttbarpattern,pattern color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) rectangle (\gantttmpb,\value{ganttnum}+0.5);
+  }
+  \setlength{\ganttlastx}{\gantttmpb}
+  \addtocounter{ganttnum}{-1}
+}
+
+
+% \ganttcon draws an arrow between to bars with specified coordinates
+% usage: \ganttcon{startx}{starty}{endx}{endy}
+\newcommand{\ganttcon}[4]{
+    \draw[-latex,rounded corners=1pt] (#1\ganttunitlength,-#2+0.1 + 0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2+0.1+0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#4+0.1+0.2) -- (#3\ganttunitlength,-#4+0.1+0.2);
+}
+
+
+% \ganttbarcon draws a single bar *and* connects the bar with the previous bar for 
+% consecutive tasks
+% usage: \ganttbarcon[pattern=<pattern>,color=<color>]{label}{start}{length}
+% where the optional pattern argument are the same as for \ganttbar
+\newcommand{\ganttbarcon}[4][]{
+  \setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength}
+  \ifdim\nextganttlastx>#3\ganttunitlength
+    \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2);
+  \else
+    \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2);
+  \fi
+  \ganttbar[#1]{#2}{#3}{#4}  
+}
+
+
+% \ganttgroup draws a bar to group tasks
+% usage: \ganttgroup{label}{start}{length}
+\newcommand{\ganttgroup}[3]{%
+  \setlength{\gantttmpa}{#2\ganttunitlength}
+  \setlength{\gantttmpb}{#3\ganttunitlength}
+  \setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
+
+  \ifKV@ganttx@drawledgerline
+    \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
+  \fi
+  \node at (0,\value{ganttnum}) [anchor=base east] {%
+    \ganttfontsize\bfseries #1%
+   };
+  \fill[black] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) rectangle (\gantttmpb+0.14cm,\value{ganttnum}+0.4);
+  \draw[diamond-diamond] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) -- (\gantttmpb+0.14cm,\value{ganttnum}+0.2);
+
+  \setlength{\ganttlastx}{\gantttmpb}
+  \addtocounter{ganttnum}{-1}
+}
+
+
+% \ganttmilestone, draw a diamond to represent a milestone
+% usage: \ganttgroup[fill=<color>]{label}{start}
+% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray)
+% for more information see the tikz documentation
+
+% Declaring layers to abvoid superposition when you connect a \ganttmileston with a task
+\pgfdeclarelayer{background}
+\pgfdeclarelayer{foreground}
+\pgfsetlayers{background,main,foreground}
+
+\newcommand{\ganttmilestone}[3][]{
+  \setlength{\gantttmpa}{#3\ganttunitlength}
+  \setlength{\gantttmpb}{0\ganttunitlength}
+  \setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
+
+  \ifKV@ganttx@drawledgerline
+    \draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
+  \fi
+  \node at (0,\value{ganttnum}) [anchor=base east] {%
+		\ganttfontsize #2%
+  };
+  \setkeys{ganttbarx}{#1}{%
+  \pgfonlayer{foreground}
+  \draw[diamond-, color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) -- (\gantttmpb,\value{ganttnum}+0.4);
+  \endpgfonlayer
+  }
+  \setlength{\ganttlastx}{\gantttmpb}
+  \addtocounter{ganttnum}{-1}
+}
+
+
+% \ganttmilestonecon draws a single diamond *and* connects the diamond with the previous task
+% usage: \ganttmilestonecon[color=<color>]{label}{start}{length}
+% where the optional color argument are the same as for \ganttbar and \ganttmilestone
+
+\newcommand{\ganttmilestonecon}[3][]{
+  \setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength}
+  \ifdim\nextganttlastx>#3\ganttunitlength
+    \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2);
+    %
+    \else
+    \draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2);
+  \fi
+%  \fi
+  \ganttmilestone[#1]{#2}{#3}  
+}
+
+
+\endinput
diff --git a/thesis.tex b/thesis.tex
index f6f5650..8be06a6 100644
--- a/thesis.tex
+++ b/thesis.tex
@@ -98,8 +98,8 @@
 \include{BAB2/bab2}
 \include{BAB3/bab3}
 \include{BAB4/bab4}
-\include{BAB5/bab5}
-\include{BAB6/bab6}
+% \include{BAB5/bab5}
+% \include{BAB6/bab6}
 \include{OTHER/kesimpulan}
 
 %
diff --git a/uithesis.sty b/uithesis.sty
index b86c481..112e600 100644
--- a/uithesis.sty
+++ b/uithesis.sty
@@ -181,6 +181,7 @@
 %
 \usepackage{caption}
 
+\usepackage{gantt}
 %-----------------------------------------------------------------------------%
 % Konfigurasi
 %-----------------------------------------------------------------------------%