fixup! fixup! fixup! fixup! fixup! fixup! Add analysis

content/analysis.tex

@@ -1,12 +1,6 @@
 %&tex
 \chapter{Analysis}
 \label{chap:analysis}
-\begin{marginfigure}
-    \centering
-    \includegraphics[width=6cm]{graphics/design_flow.pdf}
-    \caption{Overview of the design flow, split in two phases: Preliminary Design and the \ac{ridm}.}
-    \label{fig:design_flow_analysis}
-\end{marginfigure}
 The previous chapter introduced how two design methods are combined to form the bases for one complete design method.
 In this chapter, a design plan is created from this combined design method.
 The goal is to have a concrete design plan that can be used in the case study.
@@ -45,6 +39,7 @@ The steps that are introduced by \ridm are covered in more detail.
         This might lead to a redesign of multiple sub-systems when these requirements have to be updated.
 
     \subsection{Initial Design}
+        \label{sec:se_initial_design}
         In the initial design step, the "what has to be solved", is expanded with a solution on "how it is solved".
         To find the best solution it is important to explore the different solutions and design space.
         Often, there are many possible alternatives but they must be narrowed down to the solutions that fit within the schedule and available resources.
@@ -141,7 +136,35 @@ The steps that are introduced by \ridm are covered in more detail.
     \end{description}
 
 \subsection{Rapid Development Cycle}
-
-\subsection{Variable Approach}
+Each iteration of this rapid development cycle will implement one complete feature.
+The feature that is implemented is selected in the prior feature selection step.
+The goal of this step is to lay the foundation for the development of the feature.
+This foundation consists of a basic model, a set of detail elements and a list of tests.
+The set of detail elements is a collection of design aspects that are added to increase the detail during the next design step.
+These detail elements can represent behavior, parasitic elements, or components.
+How these detail elements are implemented and what the basic model consists of is based on the initial design of the selected feature.
+
+The initial design of the feature is similar to the system wide approach in \autoref{sec:se_initial_design}.
+It consists of a design space exploration, but with more detail, which is possible as the feature is significantly smaller than the complete system.
+From the design space exploration, the developer selects the optimal design choice for the current feature.
+For this design choice, a design document is made that illustrates the rough shape and dynamics of the implementation.
+
+The basic model and the detail elements are based on an initial design of the feature.
+The basic model consists of only the most basic elements of the design.
+As the basic elements that make the basic model differ strongly per system, there is not a specific approach.
+A good starting point is to identify the interesting energy states of the system.
+The energy states of interest can include the energy states that are dominant, but also the states that are chosen by the developer.
+These last states could represent the output states or status that have to be measured.
+%However, the basic model should at least represent the dominant energy states of the feature.
+In the end, the developer should evaluate if states are required and implement them in the basic model.
+All the elements that are part of the initial design but are not part of the basic model are the detail elements.
+
+Lets take a motorized double inverted pendulum for example, which consists of two arms with motorized joints.
+Both pendulum arms are dominant energy states.
+The electrical motors have also internal states, but store significantly less energy than the pendulum arms.
+An basic model would in this case only consists of the arms, possibly even without any dynamic behavior.
+The dynamic behavior, motor characteristics, resistance, or gravitational force are examples of detail elements that can be added to increase the detail.
+
+\subsection{Variable Detail Approach}