University of Stuttgart Dr.-Ing. dissertation, Stuttgarter Maschinenbau series (isw_smb_diss)

%   ****************************************
%   * File: SAMPLE.BIB                     *
%   ****************************************
%   * An invented bib file                 *
%   * For the sample texts                 *
%   * The order is unimportant and there   *
%   * may be more entries than references  *
%   * in the text                          *
%   ****************************************
% 
@ARTICLE{smit54,
	AUTHOR = {J. G. Smith and H. K. Weston},
	TITLE = {Nothing Particular in this Year's History},
	YEAR = {1954},
	JOURNAL = {J. Geophys. Res.},
	VOLUME = {2},
	PAGES = {14-15}
}
@BOOK{colu92,
	AUTHOR = {Christopher Columbus},
	TITLE = {How {I} Discovered {America}},
	YEAR = {1492},
	PUBLISHER = {Hispanic Press},
	ADDRESS = {Barcelona}
}
@ARTICLE{gree00,
	AUTHOR = {R. J. Green and U. P. Fred and W. P. Norbert},
	TITLE = {Things that Go Bump in the Night},
	YEAR = {1900},
	JOURNAL = {Psych. Today},
	VOLUME = {46},
	PAGES = {345-678}
}
@ARTICLE{phil99,
	AUTHOR = {T. P. Phillips},
	TITLE = {Possible Influence of the Magnetosphere on {American} History},
	YEAR = {1999},
	JOURNAL = {J. Oddball Res.},
	VOLUME = {98},
	PAGES = {1000-1003}
}
@ARTICLE{jame76,
	AUTHOR = {Kelly James and Harris, Jr., George and Wilby Wollops},
	TITLE = {{American} Independence and Magnetism},
	YEAR = {1776},
	JOURNAL = {Revol. Tracts},
	VOLUME = {32},
	PAGES = {34-55}
}

% !TeX program = txs:///lualatex
% !TEX spellcheck = de-DE
% !BIB program = txs:///biber
%% magic comments above automatically switch to correct compiler in TexStudio

\documentclass[
%accepted, % uncomment this after your oral exam for the final print (changes title page)
%print,% use this flag for printing (turns links black)
english, ngerman,% Language: last one is the main language used in the document
%smallfont, % if you wish a smaller font. This is 12pt for the manuscript, 
twoside, % one of {oneside, twoside} -> onesided or twosided layout. for twosided print choose twoside
toc=bib, % have  bibliography listed in table of contents
BCOR=6mm, % binding correction, 6 mm for 200 pages, 80 g/m² Paper (half of thickness of book content)
%a5paper, %  change paper format to true DIN-A5 (default is DIN-A4). This might lead to layout issues after conversion, prefer offloading scaling to A5 to printer
ingenieurin, % ingenieur, % for title page ... der Würde einer/eines Doktor-Ingenieurin/Ingenieurs
]{isw_smb_diss} % Relative path to class. If class is in subfolder (e.g. as git submodule) then \documentclass[...]{isw_smb_diss/isw_smb_diss}

% Rules for the design of your dissertation: http://dx.doi.org/10.18419/opus-10327 (S. 25)

% Suppress single lines on previous/next page:
\clubpenalty=10000
\widowpenalty=10000
\displaywidowpenalty=10000

%% ======= Recommended packages (not necessarily needed) ======= 

\usepackage{shellesc} % shell escape alternative: more flexible than --shell-escape flag
					  % for glossaries-extra, tikz external package

% use this to debug where borders are hurt:
%\usepackage{showframe}

\usepackage{csquotes} % for bibliography and glossaries
\usepackage{xpatch}

% Citation style. If your institute has specific requirements, configure here:
\usepackage[style=numeric,
sorting=none,
maxcitenames=2,
maxbibnames=99,
giveninits=true,
uniquelist=false,
backend=biber,
natbib=true,
bibwarn=true,
sortcites=true, % sort citations when multiple are cited, e.g. \cite{A,B,C} -> [1,2,3] instead of [3,1,2]
isbn=true]{biblatex}

% Hack: print url only if no doi is present, credits to samcarter_is_at_topanswers.xyz on https://tex.stackexchange.com/a/424775
\renewbibmacro*{doi+eprint+url}{%
	\printfield{doi}%
	\newunit\newblock%
	\iftoggle{bbx:eprint}{%
		\usebibmacro{eprint}%
	}{}%
	\newunit\newblock%
	\iffieldundef{doi}{%
		\usebibmacro{url+urldate}}%
	{}%
}


\usepackage{amsmath, amssymb, bm} % math commands
\numberwithin{equation}{chapter} %ensure that equations enumeration starts at 1 for every chapter

\usepackage{xurl} %break links in bibliography

\RequirePackage{graphicx} % images


% Nice looking tables (https://nhigham.com/2019/11/19/better-latex-tables-with-booktabs/latex subfig)
\usepackage{booktabs}

% si-units: auto-rounding numbers, set same format for numbers globally, add and correclty typeset units for numbers
\usepackage{siunitx}
\sisetup{%round-mode = places, 
	%round-precision = 3, % 
	range-phrase=~--~, % --, % \qtyrange{from}{to}{unit}
	table-number-alignment = center, 
	table-omit-exponent=false, % turn of exp representation in tables
	exponent-product=\cdot,
	output-decimal-marker={,}, % "," instead of "." as decimal separator (for German theses)
	%exponent-mode = fixed, fixed-exponent = 0, % turn of exponent mode with Latex3e
}
% The following line should help, if you experience problems with missing hyphenation of composed words with dash 
% (LaTeX turns off hyphenation when a dash is present in a word)
% Source: https://tex.stackexchange.com/questions/63232/why-can-words-with-hyphen-char-not-be-hyphenated/63234#63234
% Alternatively, explicitely hyphenate with "= (https://de.wikibooks.org/wiki/LaTeX-W%C3%B6rterbuch:_Silbentrennung)
\defaulthyphenchar=127

% Just for demonstration use
\usepackage{blindtext}

% harvey balls: e.g \harveyBallFull
% \usepackage{harveyballs}

%% mark changes after your Oral presentation for review (http://mirrors.ibiblio.org/CTAN/macros/latex/contrib/changes/changes.english.pdf):
%% You can even list all changes so they can easily be checked with "\listofchanges"
%\usepackage[%final % keyword "final" is to hide changes highlighting
%				]{changes}
%\definechangesauthor[name=Prof. Haupt Berichter, color=Plum]{MyProf}
%\definechangesauthor[name=Prof. Mit berichter, color=OliveGreen]{OtherProf}

% Other settings you may find useful
%\input{isw_smb_diss/settings_example/definitions} % commands
%\input{isw_smb_diss/settings_example/tikz} % TikZ settings
%\input{isw_smb_diss/settings_example/tikz_blocks} % block diagrams using tikz 

%% ======= End of recommended packages ======= 

% TODO: add your own bibliography here:
\addbibresource{bibliography.bib}

% search for images in folder img/, i.e. instead of  \includegraphics{img/...}, just use \includegraphics{...}
\graphicspath{{img/}}


\title{Titel der Diss\\gerne auch mit Zeilenumbruch\\zur besseren Formatierung}

% English title: set proper title case: https://titlecaseconverter.com/
\subtitle{English Thesis Title With Line Breaks\\for Better Formatting} % Nur, wenn die Arbeit auf Deutsch ist, sonst weglassen

\author{Vorname Nachname,~M.Sc.}
\birthplace{Geburtsort}

\examiner{Univ.-Prof.~Dr.-Ing.~Haupt~Berichter}
\coexaminer{Univ.-Prof.~Dr.-Ing.~Mit~Berichter}
\faculty{Konstruktions-, Produktions- und Fahrzeugtechnik} % Fak. 7
% \faculty{Energie-, Verfahrens- und Biotechnik} % Fak. 4
\institute{Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen}
\dateoforalexamination{1. Januar 2027}
\yearofpublication{2027}

% Manual hyphenation. 
% More info for German hyphenation in LaTeX: https://de.wikibooks.org/wiki/LaTeX-W%C3%B6rterbuch:_Silbentrennung
\hyphenation{Dis-am-bi-gu-ie-rung, Sil-ben-trenn-ung}

%%% Acronyms and glossary:
% Glossary (Used symbols, acronyms, ...)
%\input{settings_example/glossaries}

% Define acronyms (needs \input{settings/glossaries})
% Use in text: \ac{kgt} or short \acs{kgt}
%\newacronym{ISW}{ISW}{Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen}
%\newacronym{FE}{FE}{Finite Elemente}

% Glossary entries, also needs \input{settings/glossaries}, use in text as \gls{Q}
%\glsxtrnewsymbol[description={Kovarianz des Systemrauschens des Kalmanfilters}]{Q}{\ensuremath{\bm Q}}
%\glsxtrnewsymbol[description={Kovarianz des Messrauschens des Kalmanfilters}]{R}{\ensuremath{R}}

%  Show page borders (useful for final checks)
%\usepackage{showframe}

\begin{document}

\frontmatter
% title page according to https://www.f07.uni-stuttgart.de/forschung/promotion-und-habilitation/promotion/dokumente/Titelblatt-Dissertation-1Einreichung_2Drucklegung.pdf
\maketitle
\onehalfspacing % line spacing: 1,5

\addchap{Vorwort}
% Formel-Beispiel
\(a_x + b_y \sum_i^N dx + \int\) \footnote{Das ist eine Formel.}

% Beispiel SI-Unit-Paket
\SI{3.14159265e1}{kg.m/s^2} \cite{colu92}


%Beispiel für referenzieren eines Glossar-Eintrags
%Matrizen \gls{Q} und \gls{R}
%auch in Gleichungen: $\gls{Q}$
%
%Beispiel fürs Referenzieren eines Akronyms:
%\ac{ISW}.
%Automatische Bindestriche bei zusammengesetzten Akronymen: \ac{FE}[-Modelle]

\cleardoublepage
% two versions required: Kurzfassung in German and Abstract in English, see 
%"Richtlinien für die äußere Form der Veröffentlichung von Dissertationen" 
% in https://elib.uni-stuttgart.de/items/6ff82d8a-b81e-4e55-99ac-345cbdc91e13
\addchap{Kurzfassung}
\addchap{Abstract} 


\cleardoublepage
\ifpdf
    \phantomsection
    \pdfbookmark[0]{\contentsname}{toc}
\fi
\tableofcontents

% % List of acronyms/symbols
%\cleardoublepage
%reference with label \ref{glo:acronyms}
%\addchap{Abkürzungsverzeichnis}
%\glssetwidest{ISW~} % longest acronym to properly indent list of acronyms
%\printglossary[type=\acronymtype, style=alttree, title={Abkürzungsverzeichnis}]
%
%\cleardoublepage
%\printglossary[type=symbols,style={symbunitlong}, title={Symbolverzeichnis}]


\cleardoublepage
\listoffigures

\cleardoublepage
\listoftables

\raggedbottom % prefer having whitespace on bottom of pages (instead of stretching content to have common bottom line)
			  % This is required by the publisher

\mainmatter % Main contents. Tips:
            % - Have separate .tex files per chapter, include them using \input{...}
            % - When using versioning with git, try to start each sentence in a new line (this makes diffs cleaner)

\chapter{Einleitung}

\Blindtext

\section{Forschungsfrage und Problembeschreibung}
\section{Beitrag dieser Arbeit}

\chapter{Stand der Forschung und Technik}
\section{Zusammenfassende Bewertung des Stands der Technik}

\chapter{Ziel der Arbeit und Vorgehensweise}

% Eigene Kapitel: weitere Problemanalyse, Lösung, Validierung


\chapter{Zusammenfassung}
\section{Diskussion}
\section{Ausblick}

% TODO: nocite prints the whole bib file to the bibliography. This is for testing and should be commented out in your thesis:
\nocite{*}

% Bibliography
\setlength{\emergencystretch}{.5em}
%% Force page breaks in bibliography before splitting single entries over multiple pages
%\patchcmd{\bibsetup}{\interlinepenalty=5000}{\interlinepenalty=10000}{}{}
\printbibliography





% Appendix, if needed:
%% This uses \section and below to have everything grouped in the virtual chapter "Anhang" in the table of contents. 
\startSMBAppendix

\addcontentsline{toc}{chapter}{\appendixname}
\section{Ein Anhang}
\subsection{Unteranhang 1}

\end{document}

% !TeX program = txs:///lualatex
% !BIB program = txs:///biber
% !TEX spellcheck = en-GB
%% magic comments above automatically switch to correct compiler in TexStudio

\documentclass[
%accepted, % uncomment this after your oral exam for the final print (changes title page)
%print,% use this flag for printing (turns links black)
ngerman, english,% Language: last one is the main language used in the document
%smallfont, % if you wish a smaller font. This is 12pt for the manuscript, 
twoside, % one of {oneside, twoside} -> onesided or twosided layout. for twosided print choose twoside
toc=bib, % have  bibliography listed in table of contents
BCOR=6mm, % binding correction, 6 mm for 200 pages, 80 g/m² Paper (half of thickness of book content)
%a5paper, %  change paper format to true DIN-A5 (default is DIN-A4). This might lead to layout issues after conversion, prefer offloading scaling to A5 to printer
ingenieurin, % ingenieur, % for title page ... der Würde einer/eines Doktor-Ingenieurin/Ingenieurs
]{isw_smb_diss} % Relative path to class. If class is in subfolder (e.g. as git submodule) then \documentclass[...]{isw_smb_diss/isw_smb_diss}

% Rules for the design of your dissertation: http://dx.doi.org/10.18419/opus-10327 (S. 25)

% Suppress single lines on previous/next page:
\clubpenalty=10000
\widowpenalty=10000
\displaywidowpenalty=10000

%% ======= Recommended packages (not necessarily needed) ======= 

\usepackage{shellesc} % shell escape alternative: more flexible than --shell-escape flag
					  % for glossaries-extra, tikz external package

% use this to debug where borders are hurt:
%\usepackage{showframe}

\usepackage{csquotes} % for bibliography and glossaries
\usepackage{xpatch}

% Citation style. If your institute has specific requirements, configure here:
\usepackage[style=numeric,
sorting=none,
maxcitenames=2,
maxbibnames=99,
giveninits=true,
uniquelist=false,
backend=biber,
natbib=true,
bibwarn=true,
sortcites=true, % sort citations when multiple are cited, e.g. \cite{A,B,C} -> [1,2,3] instead of [3,1,2]
isbn=true]{biblatex}

% Hack: print url only if no doi is present, credits to samcarter_is_at_topanswers.xyz on https://tex.stackexchange.com/a/424775
\renewbibmacro*{doi+eprint+url}{%
	\printfield{doi}%
	\newunit\newblock%
	\iftoggle{bbx:eprint}{%
		\usebibmacro{eprint}%
	}{}%
	\newunit\newblock%
	\iffieldundef{doi}{%
		\usebibmacro{url+urldate}}%
	{}%
}


\usepackage{amsmath, amssymb, bm} % math commands
\numberwithin{equation}{chapter} %ensure that equations enumeration starts at 1 for every chapter

\usepackage{xurl} %break links in bibliography

\RequirePackage{graphicx} % images


% Nice looking tables (https://nhigham.com/2019/11/19/better-latex-tables-with-booktabs/latex subfig)
\usepackage{booktabs}

% si-units: auto-rounding numbers, set same format for numbers globally, add and correclty typeset units for numbers
\usepackage{siunitx}
\sisetup{%round-mode = places, 
	%round-precision = 3, % 
	range-phrase=~--~, % --, % \qtyrange{from}{to}{unit}
	table-number-alignment = center, 
	table-omit-exponent=false, % turn of exp representation in tables
	exponent-product=\cdot,
	output-decimal-marker={,}, % "," instead of "." as decimal separator (for German theses)
	%exponent-mode = fixed, fixed-exponent = 0, % turn of exponent mode with Latex3e
}
% The following line should help, if you experience problems with missing hyphenation of composed words with dash 
% (LaTeX turns off hyphenation when a dash is present in a word)
% Source: https://tex.stackexchange.com/questions/63232/why-can-words-with-hyphen-char-not-be-hyphenated/63234#63234
% Alternatively, explicitely hyphenate with "= (https://de.wikibooks.org/wiki/LaTeX-W%C3%B6rterbuch:_Silbentrennung)
\defaulthyphenchar=127

% Just for demonstration use
\usepackage{blindtext}

% harvey balls: e.g \harveyBallFull
% \usepackage{harveyballs}

%% mark changes after your Oral presentation for review (http://mirrors.ibiblio.org/CTAN/macros/latex/contrib/changes/changes.english.pdf):
%% You can even list all changes so they can easily be checked with "\listofchanges"
%\usepackage[%final % keyword "final" is to hide changes highlighting
%				]{changes}
%\definechangesauthor[name=Prof. Haupt Berichter, color=Plum]{MyProf}
%\definechangesauthor[name=Prof. Mit berichter, color=OliveGreen]{OtherProf}

% Other settings you may find useful
%\input{isw_smb_diss/settings_example/definitions} % commands
%\input{isw_smb_diss/settings_example/tikz} % TikZ settings
%\input{isw_smb_diss/settings_example/tikz_blocks} % block diagrams using tikz 

%% ======= End of recommended packages ======= 

% TODO: add your own bibliography here:
\addbibresource{bibliography.bib}

% search for images in folder img/, i.e. instead of  \includegraphics{img/...}, just use \includegraphics{...}
\graphicspath{{img/}}


\title{Your paper} % set proper title case: https://titlecaseconverter.com/
% \subtitle not needed for english title, see https://www.f07.uni-stuttgart.de/forschung/promotion-und-habilitation/promotion/dokumente/Titelblatt-Dissertation-1Einreichung_2Drucklegung.pdf (S. 25)

\author{Jane Doe,~M.Sc.}
\birthplace{Birthplace}

\examiner{Univ.-Prof.~Dr.-Ing.~Main~Examiner}
\coexaminer{Univ.-Prof.~Dr.-Ing.~Co~Examiner}
\faculty{Konstruktions-, Produktions- und Fahrzeugtechnik} % Fak. 7
% \faculty{Energie-, Verfahrens- und Biotechnik} % Fak. 4
\institute{Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen}
\dateoforalexamination{1. Januar 2027}
\yearofpublication{2027}


%%% Acronyms and glossary:
% Glossary (Used symbols, acronyms, ...)
%\input{settings_example/glossaries}

% Define acronyms (needs \input{settings/glossaries})
% Use in text: \ac{kgt} or short \acs{kgt}
%\newacronym{ISW}{ISW}{Institute for Control Engineering of Machine Tools and Manufacturing Units}
%\newacronym{FE}{FE}{Finite Elements}

% Glossary entries, also needs \input{settings/glossaries}, use in text as \gls{Q}
%\glsxtrnewsymbol[description={Covariance of the system noise of the Kalman filter}]{Q}{\ensuremath{\bm Q}}
%\glsxtrnewsymbol[description={Covariance of the measurement noise of the Kalman filter}]{R}{\ensuremath{R}}

%  Show page borders (useful for final checks)
%\usepackage{showframe}

\begin{document}

\frontmatter
% title page according to https://www.f07.uni-stuttgart.de/forschung/promotion-und-habilitation/promotion/dokumente/Titelblatt-Dissertation-1Einreichung_2Drucklegung.pdf
\maketitle
\onehalfspacing % line spacing: 1,5

\addchap{Preface}
% Formula example
\(a_x + b_y \sum_i^N dx + \int\) \footnote{This is a formula.}

% Example SI unit package
\SI{3.14159265e1}{kg.m/s^2} \cite{colu92}


%Example for referencing a glossary entry
%Matrices \gls{Q} and \gls{R}
%also in equations: $\gls{Q}$
%
%Example for referencing an acronym:
%\ac{ISW}.

\cleardoublepage
% two versions required: Kurzfassung in German and Abstract in English, see 
%"Richtlinien für die äußere Form der Veröffentlichung von Dissertationen" 
% in https://elib.uni-stuttgart.de/items/6ff82d8a-b81e-4e55-99ac-345cbdc91e13
\addchap{Abstract} 
\addchap{Kurzfassung}


\cleardoublepage
\ifpdf
    \phantomsection
    \pdfbookmark[0]{\contentsname}{toc}
\fi
\tableofcontents

% % List of acronyms/symbols
%\cleardoublepage
%reference with label \ref{glo:acronyms}
%\addchap{Acronyms}
%\glssetwidest{ISW~} % longest acronym to properly indent list of acronyms
%\printglossary[type=\acronymtype, style=alttree, title={Acronyms}]
%
%\cleardoublepage
%\printglossary[type=symbols,style={symbunitlong}, title={List of Symbols}]


\cleardoublepage
\listoffigures

\cleardoublepage
\listoftables

\raggedbottom % prefer having whitespace on bottom of pages (instead of stretching content to have common bottom line)
			  % This is required by the publisher

\mainmatter % Main contents. Tips:
            % - Have separate .tex files per chapter, include them using \input{...}
            % - When using versioning with git, try to start each sentence in a new line (this makes diffs cleaner)

\chapter{Introduction}

\Blindtext

\section{Problem statement and Research Question}
\section{Contribution}

\chapter{Related Work}
\section{Summary and Discussion}

\chapter{Goals and Methodology}

% Own chapters: further problem analysis, solution, validation

\chapter{Conclusion}
\section{Discussion}
\section{Outlook}

% TODO: nocite prints the whole bib file to the bibliography. This is for testing and should be commented out in your thesis:
\nocite{*}

% Bibliography
\setlength{\emergencystretch}{.5em}
%% Force page breaks in bibliography before splitting single entries over multiple pages
%\patchcmd{\bibsetup}{\interlinepenalty=5000}{\interlinepenalty=10000}{}{}
\printbibliography





% Appendix, if needed:
%% This uses \section and below to have everything grouped in the virtual chapter "Anhang" in the table of contents. 
\startSMBAppendix

\addcontentsline{toc}{chapter}{\appendixname}
\section{An appendix section}
\subsection{Subsection in appendix}

\end{document}

% basiert auf den Vorlagen von O. Gerlach (2015) und Philipp Tempel (2018) erweitert von C. Hinze (2020-2024)
% Richtlinien zur Formatierung der Dissertation: http://dx.doi.org/10.18419/opus-10327
\NeedsTeXFormat{LaTeX2e}
\ProvidesClass{isw_smb_diss}[2026/03/27 v. 1.11 Stuttgarter-Maschinenbau-Reihe für Dissertationen: https://github.com/iswunistuttgart/isw_smb_diss]
\typeout{}
\typeout{Stuttgarter Maschinenbau Dissertation LaTeX template class v1.11}
\typeout{}
\typeout{Institute for Control Engineering of Machine Tools and Manufacturing}
\typeout{Units, ISW, Seidenstrasse 36, D-70174 Stuttgart, Germany.}
\typeout{}

\ProcessOptions\relax
\newcommand{\documentfontsize}{14pt}
\newcommand{\titlewidth}{1.0}
\newcommand{\paperformatScr}{a4}
\newcommand{\paperformatGeom}{a4paper}
\newcommand{\introstart}{Der Fakultät}
\newcommand{\introstatus}{vorgelegte}
\newcommand{\documentsourceintro}{von}
\newcommand{\oralexamination}{Tag der mündlichen Prüfung: \>\\}
\newcommand{\linkcolor}{uniSblue}

\DeclareOption{smallfont}{
	\renewcommand{\documentfontsize}{12pt}
}

\DeclareOption{accepted}{
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	\renewcommand{\introstatus}{genehmigte}
	\renewcommand{\documentsourceintro}{Vorgelegt von}
	\renewcommand{\oralexamination}{Tag der mündlichen Prüfung: \> \@dateoforalexamination \\}
	
	% This avoids page breaks within bibliography entries
	\AtBeginDocument{%
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\DeclareOption{print}{
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}

\DeclareOption{a5paper}{
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	\renewcommand{\paperformatScr}{a5}
	\renewcommand{\paperformatGeom}{a5paper}	
	\DeclareOption{smallfont}{
		\renewcommand{\documentfontsize}{8pt}% 8.5 would be closer, but is not supported. Scale a little smaller to avoid overflowing floating environments.
	}
}

\DeclareOption*{\PassOptionsToClass{\CurrentOption}{scrbook}}

\newcommand{\ofADrEng}{eines Doktor-Ingenieurs}
\DeclareOption{ingenieur}{
	\renewcommand{\ofADrEng}{eines Doktor-Ingenieurs}
}
\DeclareOption{ingenieurin}{
	\renewcommand{\ofADrEng}{einer Doktor-Ingenieurin}
}

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	numbers=noenddot, % remove dot at end of caption and heading numbers
]{scrbook} % KOMA-Script scrreprt, DIN A5, 10pt with bibliography in TOC

% if/else (used within the class)
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\RequirePackage{ifpdf}
\RequirePackage{ifxetex}
\RequirePackage{ifluatex}

\RequirePackage{babel} % hyphenation

\ifthenelse{\boolean{xetex}\OR\boolean{luatex}}{
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}{% pdflatex needs to know the ecoding
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	\RequirePackage{fontenc}  

	\PassOptionsToPackage{utf8}{inputenc} % directly support utf8 characters, as ä,ö,ü,Ü,ß
	\RequirePackage{inputenc}  	 
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% load fonts: this is handled differently for lualatex/xetex and pdflatex
\ifthenelse{\boolean{xetex}\OR\boolean{luatex}}
   { % use fontspec and OpenType fonts with utf8 engines
	\RequirePackage{fontspec}%
	\defaultfontfeatures{Ligatures=TeX}%
	\setsansfont{texgyreheros}[
	%Scale=MatchLowercase,% or MatchUppercase
	Extension=.otf,
	UprightFont=*-regular,
	ItalicFont=*-italic,
	BoldFont=*-bold,
	BoldItalicFont=*-bolditalic,
	]
	
	\setmainfont{texgyrepagella}[
	%Scale=MatchLowercase,% or MatchUppercase
	Extension=.otf,
	UprightFont=*-regular,
	ItalicFont=*-italic,
	BoldFont=*-bold,
	BoldItalicFont=*-bolditalic,
	%Numbers={Proportional,OldStyle}
	]
	
	\linespread{1.05} % for pagella
	%\RequirePackage{unicode-math}
	%\setmathfont{TeX Gyre Pagella Math}%
	%\setmainfont[SmallCapsFeatures={LetterSpace=6}, Numbers={Proportional,OldStyle}]{Minion Pro}
	%\setsansfont[LetterSpace=3, Numbers={Proportional,OldStyle}]{Myriad Pro}
	\setmonofont[Scale=0.85]{DejaVu Sans Mono} 
   }
   { % use Type 1 fonts with pdflatex
	\PassOptionsToPackage{osf,sc}{mathpazo}%
	\RequirePackage{mathpazo} % Palatino with real small caps and old style figures
	\usepackage{tgheros}
	\linespread{1.05} % a bit more for Palatino
	\PassOptionsToPackage{scaled=0.85}{DejaVuSansMono}%
	\RequirePackage{DejaVuSansMono}%
	\RequirePackage{tgpagella}% main font
	\RequirePackage{textcomp}% declare missing symbols

	\PassOptionsToPackage{activate={true,nocompatibility},final,tracking=true,kerning=true,spacing=true,factor=1100,stretch=10,shrink=10}{microtype}
   }

% some font fine tuning
\RequirePackage{microtype}

\RequirePackage[onehalfspacing]{setspace} 
\RequirePackage[automark,% 
headsepline=0.20pt,% set header line
draft=false,]{scrlayer-scrpage}	 % header & footer layout
\automark[chapter]{chapter} % show chapters on both sides, if no section is defined
\automark*[section]{}% only show section in running header, if one is defined, otherwise use chapter title.
\pagestyle{scrheadings}

% make marks (e.g. page numbering) appearing on outer page (right) for onsesided print
\if@twoside\else
\ihead*[]{}
\chead*[]{}
\ohead*[]{\headmark}
\ifoot*[]{}
\cfoot*[]{}
\ofoot*[\pagemark]{\pagemark}
\fi

% same indentation for all sublevel headings, e.g. 
% 1. 	Chapter
% 1.1   Section
% 1.1.1 Subsection
% source: https://tex.stackexchange.com/a/382969
% This is desired by the publisher (but generates unneeded whitespace)
\newdimen\sectionnumberwdmax
\setlength\sectionnumberwdmax{3em}%
\renewcommand*{\chapterformat}{%
  \IfUsePrefixLine{\chapapp\nobreakspace\thechapter\autodot}{%
    \makebox[\sectionnumberwdmax][l]{\thechapter\autodot\hfil}%
  }%
}
\renewcommand*{\sectionformat}{\makebox[\sectionnumberwdmax][l]{\thesection\autodot\hfil}}
\renewcommand*{\subsectionformat}{\makebox[\sectionnumberwdmax][l]{\thesubsection\autodot\hfil}}
\renewcommand*{\subsubsectionformat}{\makebox[\sectionnumberwdmax][l]{\thesubsubsection\autodot\hfil}}
\renewcommand*{\paragraphformat}{\makebox[\sectionnumberwdmax][l]{\theparagraph\autodot\hfil}}
\renewcommand*{\subparagraphformat}{\makebox[\sectionnumberwdmax][l]{\thesubparagraph\autodot\hfil}}
% end same indentation for all sublevel headings

\RequirePackage[pdfusetitle]{hyperref}

% Colors (for links, ...)
\RequirePackage[dvipsnames]{xcolor}
\definecolor{uniSblue}{RGB}{0,65,145}
\definecolor{uniSlightblue}{RGB}{0,190,255}
\definecolor{uniSgrey}{RGB}{62, 68, 76}
\definecolor{uniSyellow}{RGB}{255, 213, 0}
\definecolor{uniSred}{RGB}{230, 0, 50}
\definecolor{uniSgreen}{RGB}{0, 200, 50} 

% to include images
\RequirePackage{graphicx}

\RequirePackage{titletoc}
\contentsmargin{2.5em}


% Place Floats on top of extra float page (i.e. \begin{figure}[p])
\setlength{\@fptop}{0pt}% default is 0\p@ \@plus 1fil
\setlength{\@fpsep}{\floatsep}% default is 8\p@ \@plus 2fil
\setlength{\@fpbot}{0pt plus 1fil}% default is 0\p@ \@plus 1fil

 
% Title commands: (hint: \author, \title already defined)
\newcommand*{\@birthplace}{\ClassError{isw_smb_diss}{\string\birthplace\space missing}%
	{You have to use \string\birthplace\space to set up the place of the author's birth.}}
\newcommand*\birthplace[1]{\renewcommand\@birthplace{#1}}

\newcommand*{\@examiner}{\ClassError{isw_smb_diss}{\string\examiner\space missing}%
	{You have to use \string\examiner\space to set up the your examiner,\MessageBreak e.g. `\string\examiner{Name of examiner}'.}}
\newcommand*\examiner[1]{\renewcommand\@examiner{#1}}

\newcommand*{\@coexaminer}{\ClassError{isw_smb_diss}{\string\coexaminer\space missing}%
	{You have to use \string\coexaminer\space to set up the your co-examiner,\MessageBreak e.g. `\string\coexaminer{Name of co-examiner}'.}}
\newcommand*\coexaminer[1]{\renewcommand\@coexaminer{#1}}

\newcommand*{\@faculty}{\ClassError{isw_smb_diss}{\string\institute\space missing}%
	{You have to use \string\faculty\space to set up the your Institute,\MessageBreak e.g. `\string\faculty{Konstruktions-, Produktions- und Fahrzeugtechnik}'.}}
\newcommand*\faculty[1]{\renewcommand\@faculty{#1}}

\newcommand*{\@institute}{\ClassError{isw_smb_diss}{\string\institute\space missing}%
	{You have to use \string\institute\space to set up the your Institute,\MessageBreak e.g. `\string\institute{Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen}'.}}
\newcommand*\institute[1]{\renewcommand\@institute{#1}}

\newcommand*{\@dateoforalexamination}{\ClassError{isw_smb_diss}{\string\dateoforalexamination\space missing}%
	{You have to use \string\dateoforalexamination\space to set up the date of oral examination,\MessageBreak e.g. `\string\dateoforalexamination{TT.MM.YYYY}'.}}
\newcommand*\dateoforalexamination[1]{\renewcommand\@dateoforalexamination{#1}}

\newcommand*{\@yearofpublication}{\ClassError{isw_smb_diss}{\string\yearofpublication\space missing}%
	{You have to use \string\yearofpublication\space to set up the publication year of your thesis,\MessageBreak e.g. `\string\yearofpublication{YYYY}'.}}
\newcommand*\yearofpublication[1]{\renewcommand\@yearofpublication{#1}}

% title page according to https://www.f07.uni-stuttgart.de/forschung/promotion-und-habilitation/promotion/dokumente/Titelblatt-Dissertation-1Einreichung_2Drucklegung.pdf
\renewcommand*{\maketitle}{%
  \begin{titlepage}
	{
    \centering
		\begin{minipage}{\titlewidth\textwidth}
			\centering
			{\LARGE\bfseries\sffamily\strut\ignorespaces\@title\par}
			\vspace*{1ex}
			{\large\sffamily\strut\ignorespaces\@subtitle\par}
		\end{minipage}
		\vfill
		\begin{minipage}{\titlewidth\textwidth}
			\centering
			\introstart\ \@faculty\\
			der  Universität Stuttgart\\ 
			zur Erlangung der Würde \ofADrEng\ (Dr.-Ing.) 
			\introstatus\ Abhandlung\par%
		\end{minipage}
		\vfill
		\begin{minipage}{0.8\textwidth}
			\centering
		\documentsourceintro\\
    {\bfseries\strut\ignorespaces\@author\\}
    aus \@birthplace\par%
		\end{minipage}
    \vfill
		\begin{minipage}{0.8\textwidth}
			\begin{tabbing}
				Hauptberichter:\qquad\quad\qquad\qquad \=\@examiner \\
				Mitberichter:\> \@coexaminer \\[\baselineskip]
				\oralexamination
			\end{tabbing}
		\end{minipage}
		\vskip 2\baselineskip
		\begin{minipage}{0.8\textwidth}
			\centering
			\@institute\space der Universität Stuttgart\\
			\vskip \baselineskip
			\@yearofpublication
		\end{minipage}
    \clearpage
	}
  \end{titlepage}
}

% definitions for appendix sections
\newcommand\startSMBAppendix{
\cleardoublepage
\appendix
\renewcommand{\thesection}{\Alph{section}} % Appendix uses letters instead of numbers
\counterwithin{figure}{section} % Rename counters to start with appendix letter for easier recognition (when referencing)
\counterwithin{table}{section}
\renewcommand\thefigure{\thesection\arabic{figure}}
\renewcommand\thetable{\thesection\arabic{table}}

\automark[section]{section} %Fix the headline: chapter -> section, section -> subsection
\automark*[subsection]{}

\numberwithin{equation}{section} %Ensure that equations enumeration starts at 1

\makeatletter
\renewcommand{\@seccntformat}[1]{\appendixname~\csname the##1\endcsname\quad} % Sections start with "Anhang", e.g. "Anhang A.1" (but not in table of contents)
\makeatother
}

%\ifpdf
%\fi

% style fixes for the publisher (Fraunhofer Verlag)
% get footnotes right
\deffootnote{1em}{1em}{\makebox[1em][l]{\textsuperscript{\thefootnotemark}}}

% remove listof.... indetation 
\setuptoc{lof}{noindent} % remove indentation from figures in lof
\setuptoc{lot}{noindent} % remove indentation from tables in lot

% Initialize hyperref
\hypersetup{%
	%hidelinks, % hides linkcolor -> all links become black
	linktocpage=true,
	colorlinks=true, linktocpage=true, pdfstartpage=3,% pdfstartview=FitV,%
	% uncomment the following line if you want to have black links (e.g., for printing)
	%colorlinks=false, linktocpage=false, pdfstartpage=3, pdfstartview=FitV, pdfborder={0 0 0},%
	breaklinks=true, pageanchor=true,%
	pdfpagemode=UseNone,%
	plainpages=false, bookmarksnumbered, bookmarksopen=true,% bookmarksopenlevel=1,%
	hypertexnames=true, pdfhighlight=/O,%
	urlcolor=\linkcolor, linkcolor=\linkcolor, citecolor=\linkcolor,%pagecolor=\linkcolor,%
}

%% command definitions 

% Anzeige, dass noch eine Zitation fehlt: \citationneeded
\newcommand{\citationneeded}{\textcolor[rgb]{1,0,0}{\small [citation needed]}}

% Markiere offene TODOs im text: \todo{Hier noch mehr.}.
% Hierfür gibt es auch Pakete
\newcommand{\todo}[1]{\textcolor[rgb]{1,0,0}{\small TODO: #1}}

% Abkürzungen im Text
\newcommand{\zB}{z.\,B. }
\newcommand{\uU}{u.\,U. }

% Bildquelle in Hellgrau, rechts: \imgssource{Getty Images}
\newcommand{\imgsource}[1]{\begin{flushright}
		\textcolor{black!40}{\tiny Source:~#1}	
\end{flushright}}

% Transponiert-Zeichen, z.B.: \( \bm p^\T \)
\newcommand{\T}{\mathrm{T}}

% matrix schnell setzen mit \bmat{a & b  \\ c & d}
\newcommand{\bmat}[1]{ \ensuremath{\begin{bmatrix} #1 \end{bmatrix}} }

%% mathe-Abkürzungen
\newcommand{\gdw}{\ensuremath{\Leftrightarrow}}
\newcommand{\folgt}{\Rightarrow}
\newcommand{\mustbe}{\ensuremath{\stackrel{!}{=}}}
\newcommand{\grad}{\ensuremath{\nabla}}
\newcommand{\R}{\ensuremath{\mathbb{R}}}
\newcommand{\partfrac}[2]{ \ensuremath{\frac{\partial #1}{\partial #2}} }
\newcommand{\ddiff}{\ensuremath{\mathrm{d}}}
\newcommand{\ddt}{\ensuremath{\frac{\ddiff}{\ddiff t}}}
\newcommand{\equates}{\ensuremath{\widehat{=}}}
\newcommand{\rme}{\ensuremath{\mathrm{e}}}
\newcommand{\Lscript}{\ensuremath{\mathcal{L}}}

% := (\eqdef) und =: (\defeq) für Definitionen
\newcommand*{\defeq}{\mathrel{\vcenter{\baselineskip0.5ex \lineskiplimit0pt
			\hbox{\scriptsize.}\hbox{\scriptsize.}}} =}
\newcommand*{\eqdef}{=\mathrel{\vcenter{\baselineskip0.5ex \lineskiplimit0pt
			\hbox{\scriptsize.}\hbox{\scriptsize.}}}}
\newcommand{\mi}{\mathrm{i}} % i für Imaginärzahlen

%% \dddot{} für dreifache Zeitableitung [https://tex.stackexchange.com/questions/131587/mathtools-dddot-cause-the-term-to-rise]
\newcommand\scaleddot{\scalebox{.89}{.}}
\makeatletter
\renewcommand{\dddot}[1]{%
	{\mathop{\kern\z@#1}\limits^{\makebox[0pt][c]{\vbox to-2.2\ex@{\kern-\tw@\ex@
					\hbox{\normalfont\scaleddot\kern-0.5pt\scaleddot\kern-0.5pt\scaleddot}\vss}}}}}
\renewcommand{\ddddot}[1]{%
	{\mathop{\kern\z@#1}\limits^{\makebox[0pt][c]{\vbox to-2.2\ex@{\kern-\tw@\ex@
					\hbox{\normalfont\scaleddot\kern-0.5pt\scaleddot\kern-0.5pt\scaleddot\kern-0.5pt\scaleddot}\vss}}}}}
\makeatother

\newcommand{\LTIsysSub}[1]{\ensuremath{\Sigma_{#1}: \bm{\dot x}_{#1}  = \bm A_{#1} \bm x_{#1} + \bm b_{#1} \bm u_{#1}, \bm y_{#1} = \bm C_{#1} \bm x_{#1}, \bm x_{#1,0} = \bm x_{#1}(t=t_0)}}

\RequirePackage{shellesc}

\usepackage[toc=true, % add glossaries to toc
acronyms, % we use it for acronyms
shortcuts=ac, % use acronyms with \ac{} shortcuts
symbols, % use it for table of symbols
nogroupskip,
nomain, % there is no "main" glossary
nonumberlist, %suppress page numbers where the acronym is used in list of acronyms
automake % so we won't need to call glossaries by hand
]{glossaries-extra}
%\renewcommand*{\glstextformat}[1]{\textcolor{uniSgreen!50!black}{#1}}
%\renewcommand*{\glstextformat}[1]{\textcolor{black}{#1}} % just color glossary links them black

%\usepackage{glossary-longbooktabs} % long-booktabs styles: https://www.dickimaw-books.com/gallery/glossaries-styles/#longbooktabs


% acronym style is: Long Forms (short)
% define acronyms before \begin{document} with 
%	\newacronym{ABSC}{ABSC}{Adaptive Backstepping Controller}
%
% and use them with 
% - \ac{ABSC} ... LaTeX uses long form first with introduciton of short form, then short form only
% - \acs{ABSC} ... explicitly use short form
% - \acl{ABSC} ... explicitly use long form
% - \ac{ABSC}["=Gerät] ... compose hyphenated form with suffix
% - \glsresetall to reset all acronyms and introduce them again
%
% but also allows German composed words with \ac{EoL}["=Prüfung] => End-of-Line-Prüfung
\setabbreviationstyle[acronym]{long-hyphen-short-hyphen} % requires glossaries-extra package, otherwise use style long-short

% additionally needed to also replace spaces by hyphens in long form
\glssetcategoryattribute{\acronymtype}{markwords}{true}

% for more flexibility we define our own style here (based on longtable)
% Define glossary entries (before \begin{document}) with: \glsxtrnewsymbol[description={Tischposition},symbol={\si{m}}]{xT}{\ensuremath{x_T}}
% Refer to them in document with \gls{xT}
\newglossarystyle{symbunitlong}{%
	\renewenvironment{theglossary}%
	{\begin{longtable}{@{}lcp{0.6\textwidth}@{}}}%
		{\end{longtable}}%
	\renewcommand*{\glossaryheader}{%
		\toprule
		\bfseries Symbol & \bfseries Einheit & \bfseries Beschreibung \tabularnewline \midrule\endhead
		\bottomrule\endfoot}%
	\renewcommand{\glossentry}[2]{%
		\glsentryitem{##1}\glstarget{##1}{\glossentryname{##1}} &
		\glossentrysymbol{##1} &
		\glossentrydesc{##1}\\%
	}%
	\ifglsnogroupskip
	\renewcommand*{\glsgroupskip}{}%
	\else
	\renewcommand*{\glsgroupskip}{ & & & \tabularnewline}%
	\fi
}

\newglossarystyle{alttreetwocols}{%
	\glossarystyle{alttree}%
	\BeforeBeginEnvironment{theglossary}{\begin{multicols}{2}}%
	\AfterEndEnvironment{theglossary}{\end{multicols}}%
	}

\makeglossaries

%automatically label glossaries:
\renewcommand*{\glossarypreamble}{%
	\label{glo:\currentglossary}%
}

%% Plot settings:
% =========================

\usepackage{tikz, pgfplots}

\usetikzlibrary{backgrounds, calc, fit, positioning, patterns, decorations.pathmorphing, decorations.markings, shapes, shapes.geometric, shapes.callouts, arrows.meta, shadings, trees, chains, 3d, shadows}

\tikzset{>={Latex[width=2mm,length=2mm]}, font=\footnotesize}
\tikzset{math3d/.style= {x={(1cm, 0cm)}, y={(.353cm,.353cm)}, z={(0cm,1cm)}}}

\pgfplotsset{compat=newest,
	%tick label style = {font=\sansmath\sffamily},
	%every axis label = {font=\sansmath\sffamily},
	%legend style = {font=\sansmath\sffamily},
	%label style = {font=\sansmath\sffamily},
	grid=major,
	every axis plot/.append style={thick},
	%every axis label/.append style={font=\footnotesize},
	every axis/.append style={font=\footnotesize}, 
	%every node/.append style={font=\footnotesize}, 
}
% Switch to toggle tikz externalize. This caches tikz images so they are not compiled every time. Leads to speedup in compilation.
\newif\ifexportfigures
\exportfiguresfalse
%\exportfigurestrue

\ifexportfigures
\usetikzlibrary{external}
%\tikzset{external/only named=true} %https://tex.stackexchange.com/questions/14566/tikzexternalize-only-or-not-for-flagged-graphics
\tikzexternalize[prefix=figures/tikz/, % activate and define figures/tikz as cache folder (this folder must exist before compilation, add it by hand!)
] 
\tikzset{external/only named=true} % only externalize when \tikzsetnextfilename was set
%	\tikzset{external/force remake}%uncomment to force remake of all figures
\fi 


\newcommand{\AxisRotator}[1][rotate=0]{% https://tex.stackexchange.com/a/36607
	\tikz [x=0.25cm,y=0.60cm,line width=.2ex,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);%
}

\pgfdeclarelayer{background}
\pgfdeclarelayer{foreground}
\pgfsetlayers{background,main,foreground}

\newlength\figureheight
\newlength\figurewidth
\setlength\figureheight{2cm}
\setlength\figurewidth{0.9\textwidth}

\newlength\halffigurewidth 
\setlength\halffigurewidth{0.4\textwidth}

%\newcommand{\setfullfigwidth}{\setlength\figurewidth{.8\textwidth}}
%\newcommand{\sethalfigwidth}{\setlength\figurewidth{.35\textwidth}}
%\newcommand{\setthirdfigwidth}{\setlength\figurewidth{.26\textwidth}}
%\newcommand{\settwothirdsfigwidth}{\setlength\figurewidth{.5\textwidth}}

% Fancy node streching from http://tex.stackexchange.com/a/124507
% Examples:
%
%\node[right=of |(A)(B)(D)]          {Z};
%
%\node[left=of |(A)(B), ultra thick] {Y};
%\node[left=of |(C)(D), minimum width=50pt]          (X) {X};
%
%\node[span vertical=(A)(B), above=of -X] {y};
%
%\node[below=of -(A)(B)(C)(D)] {0};
\makeatletter
\def\pgfutil@firstofmany#1#2\pgf@stop{#1}
\def\pgfutil@secondofmany#1#2\pgf@stop{#2}
\def\tikz@lib@place@of@#1#2#3{%
	\def\pgf@tempa{fit bounding box}%
	\edef\pgf@temp{\expandafter\pgfutil@firstofmany#2\pgf@stop}
	\if\pgf@temp(%
	\tikz@lib@place@fit@scan{#2}{0}%
	\else\if\pgf@temp|
	\expandafter\tikz@lib@place@fit@scan\expandafter{\pgfutil@secondofmany#2\pgf@stop}{1}%
	\else\ifx\pgf@temp\tikz@activebar
	\expandafter\tikz@lib@place@fit@scan\expandafter{\pgfutil@secondofmany#2\pgf@stop}{1}%
	\else\if\pgf@temp-
	\expandafter\tikz@lib@place@fit@scan\expandafter{\pgfutil@secondofmany#2\pgf@stop}{2}%
	\else\if\pgf@temp+
	\expandafter\tikz@lib@place@fit@scan\expandafter{\pgfutil@secondofmany#2\pgf@stop}{3}%
	\else
	\def\pgf@tempa{#2}%
	\fi
	\fi
	\fi
	\fi
	\fi
	\expandafter\tikz@scan@one@point\expandafter\tikz@lib@place@remember\expandafter(\pgf@tempa)%
	\iftikz@shapeborder%
	% Ok, this is relative to a border.
	\iftikz@lib@ignore@size%
	\edef\tikz@node@at{\noexpand\pgfpointanchor{\tikz@shapeborder@name}{center}}%
	\def\tikz@anchor{center}%
	\else%
	\edef\tikz@node@at{\noexpand\pgfpointanchor{\tikz@shapeborder@name}{#3}}%
	\fi%
	\fi%
	\edef\tikz@lib@place@nums{#1}%
}
\def\tikz@lib@place@fit@scan#1#2{
	\pgf@xb=-16000pt\relax%
	\pgf@xa=16000pt\relax%
	\pgf@yb=-16000pt\relax%
	\pgf@ya=16000pt\relax%
	\if\pgfutil@firstofmany#1\pgf@stop(%
	\tikz@lib@fit@scan#1\pgf@stop%
	\else
	\tikz@lib@fit@scan(#1)\pgf@stop
	\fi
	\ifdim\pgf@xa>\pgf@xa
	% shouldn't happen
	\else
	\expandafter\def\csname pgf@sh@ns@fit bounding box\endcsname{rectangle}%
	\expandafter\edef\csname pgf@sh@np@fit bounding box\endcsname{%
		\def\noexpand\southwest{\noexpand\pgfqpoint{\the\pgf@xa}{\the\pgf@ya}}%
		\def\noexpand\northeast{\noexpand\pgfqpoint{\the\pgf@xb}{\the\pgf@yb}}%
	}%
	\expandafter\def\csname pgf@sh@nt@fit bounding box\endcsname{{1}{0}{0}{1}{0pt}{0pt}}%
	\expandafter\def\csname pgf@sh@pi@fit bounding box\endcsname{\pgfpictureid}%
	\ifcase#2\relax
	\or % 1 = vertical
	\pgf@y=\pgf@yb%
	\advance\pgf@y by-\pgf@ya%
	\edef\pgf@marshal{\noexpand\tikzset{minimum height={\the\pgf@y-2*(\noexpand\pgfkeysvalueof{/pgf/outer ysep})}}}%
	\pgf@marshal
	\or % 2 = horizontal
	\pgf@x=\pgf@xb%
	\advance\pgf@x by-\pgf@xa%
	\edef\pgf@marshal{\noexpand\tikzset{minimum width={\the\pgf@x-2*(\noexpand\pgfkeysvalueof{/pgf/outer xsep})}}}%
	\pgf@marshal
	\or % 3 = both directions
	\pgf@y=\pgf@yb%
	\advance\pgf@y by-\pgf@ya%
	\pgf@x=\pgf@xb%
	\advance\pgf@x by-\pgf@xa%
	\edef\pgf@marshal{\noexpand\tikzset{minimum height={\the\pgf@y-2*(\noexpand\pgfkeysvalueof{/pgf/outer ysep})},minimum width={\the\pgf@x-2*(\noexpand\pgfkeysvalueof{/pgf/outer xsep})}}}%
	\pgf@marshal
	\fi
	\fi
}
\tikzset{
	fit bounding box/.code={\tikz@lib@place@fit@scan{#1}{0}},
	span vertical/.code={\tikz@lib@place@fit@scan{#1}{1}},
	span horizontal/.code={\tikz@lib@place@fit@scan{#1}{2}},
	span/.code={\tikz@lib@place@fit@scan{#1}{3}}}

%% Generelle Blöcke, Beispiel:
% \node[block](a);
% \node[sum, left= of block](b);
% \draw[<->](a)--(b);
%
\tikzstyle{block} = [draw=black, fill=white, rectangle, align=center, minimum height=1cm, minimum width=2em]
\tikzstyle{sum} = [draw, circle, node distance=1cm]
\tikzstyle{input} = [coordinate]
\tikzstyle{output} = [coordinate]

%% Mechanik-Visualisierung
\tikzstyle{spring}=[thick,decorate,decoration={zigzag,pre length=0.2cm,post length=0.2cm,segment length=6}]
\tikzstyle{rotspring}=[thick,decoration={aspect=0.2, segment length=1.5mm, pre length=0.2cm,post length=0.3cm, amplitude=3mm,coil},decorate]
\tikzstyle{damper}=[thick,decoration={markings,  
	mark connection node=dmp,
	mark=at position 0.5 with 
	{
		\node (dmp) [thick,inner sep=0pt,transform shape,rotate=-90,minimum width=15pt,minimum height=3pt,draw=none] {};
		\draw [thick] ($(dmp.north east)+(2pt,0)$) -- (dmp.south east) -- (dmp.south west) -- ($(dmp.north west)+(2pt,0)$);
		\draw [thick] ($(dmp.north)+(0,-5pt)$) -- ($(dmp.north)+(0,5pt)$);
	}
}, decorate]
\tikzstyle{ground}=[fill,pattern=north east lines,draw=none,minimum width=0.75cm,minimum height=0.3cm]

%% Ball-screw
% New decoration for screws
\tikzset{/pgf/decoration/.cd,
	end width/.initial=0.2cm,
	end length/.initial=0.5cm,
	bar width/.initial=0.3cm,
	thread separation/.initial=0.1cm,
	ball radius/.initial=0.05cm,
	screw advancement per rev/.initial=0.1cm,
}

\pgfdeclaredecoration{ballscrew}{begin}{
	\def\b{\pgfkeysvalueof{/pgf/decoration/thread separation}}
	\def\w{\pgfkeysvalueof{/pgf/decoration/bar width}}
	\def\r{\pgfkeysvalueof{/pgf/decoration/ball radius}}
	\def\h{\pgfkeysvalueof{/pgf/decoration/screw advancement per rev}/2}
	\pgfmathsetmacro{\nl}{floor((\h-\b)/(\b+2*\r))}
	\pgfmathsetmacro{\nr}{floor(\h/(\b+2*\r)-1)}
	\pgfmathsetmacro{\ls}{\b + 2*\r}
	\pgfmathsetmacro{\lo}{0}
	\pgfmathsetmacro{\y}{\w/2+\r}
	\def\wbprod{\w/\h}
	\def\endl{\pgfkeysvalueof{/pgf/decoration/end length}}
	\def\endw{\pgfkeysvalueof{/pgf/decoration/end width}}
	\def\barw{\pgfkeysvalueof{/pgf/decoration/bar width}}
	%	
	\state{begin}[width={\endl+\h}, next state=thread]{
		\pgfpathlineto{\pgfpoint{0pt}{\endw/2}}
		\pgfpathlineto{\pgfpoint{\endl}{\endw/2}}
		\pgfpathmoveto{\pgfpoint{0.0pt}{0.0pt}}
		\pgfpathlineto{\pgfpoint{0pt}{-\endw/2}}
		\pgfpathlineto{\pgfpoint{\endl}{-\endw/2}}
		\pgfpathmoveto{\pgfpoint{\endl}{-\y}}
		\pgfpathlineto{\pgfpoint{\endl}{\y}}
		\pgfpathlineto{\pgfpoint{\endl+\h}{\y}}		
	}
	\state{thread}[width=\ls]{
		\pgfsetcornersarced{\pgfpoint{0.1mm}{0.1mm}}	
		\pgfpathmoveto{\pgfpoint{\lo}{\y}}
		\pgfpathlineto{\pgfpoint{\lo + \b}{\y}}
		\pgfpatharc{-180}{0}{\r}
		\pgfpathlineto{\pgfpoint{\lo-\h+\ls}{-\y}}
		\pgfpatharc{0}{180}{\r}
		\pgfpathlineto{\pgfpoint{\lo+\b}{\y}}
		\pgfpathmoveto{\pgfpoint{\lo-\h}{-\y}}
		\pgfpathlineto{\pgfpoint{\lo-\h+\b}{-\y}}
	}
	\state{final}[width=\pgfkeysvalueof{/pgf/decoration/end width}]{
		\pgfpathmoveto{\pgfpoint{\lo-\h}{-\y}}
		\pgfpathlineto{\pgfpoint{\lo+\b}{-\y}}
		\pgfpathlineto{\pgfpoint{\lo+\b}{\y}}
		\pgfpathlineto{\pgfpoint{\lo}{\y}}
		\pgfpathmoveto{\pgfpoint{\lo+\b}{\endw/2}}
		\pgfpathlineto{\pgfpoint{\lo+\b+\endl}{\endw/2}}
		\pgfpathlineto{\pgfpoint{\lo+\b+\endl}{-\endw/2}}
		\pgfpathlineto{\pgfpoint{\lo+\b}{-\endw/2}}
	}
}




%%---------------------
% Blockdefinitionen basierend auf https://tex.stackexchange.com/a/311358
% Z.B. einbinden als \input{tikz_blocks}
%
% Verwendungsbeispiel:
% \node [Integ block = {$T_i$}, minimum size=1cm, right = 5cm of sumofinputerror, yshift=-1.5cm] (ki) {};
%
%% --------------------
\tikzstyle{block} = [draw=black, fill=white, rectangle, align=center, minimum height=2em, minimum width=2em]
\tikzstyle{sum} = [draw, circle, node distance=1cm]
\tikzstyle{input} = [coordinate]
\tikzstyle{output} = [coordinate]

% Saturation block:
%        ____
%      |/
%  ----/---
%  ___/|
\tikzset{%
	saturation/.style={%
		draw,
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,0) -- (1,0) (0,-1) -- (0,1); 
			\draw [very thick] (-1,-.7) -- (-.7,-.7) -- (.7,.7) -- (1,.7);
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}   
	}
}

% PT1-Glied
\tikzset{%
	PT1/.style = {%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1); 
			\draw [very thick] (-1.0, -1) arc  [x radius =1.9, y radius = 1.4, start angle = 180,  end angle = 90] ;
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}
	}   
}

% PT2-Glied
\tikzset{%
	PT2/.style = {%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1); 
			\draw [very thick] plot [smooth] coordinates { (-1.0, -1) (-0.3,1) (0.0, 0.3) (0.4, 0.9) (0.7, 0.5) (0.85, 0.65) (1, 0.7)};
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}
	}   
}


% Gain, P-Regler
\tikzset{%
	Pctrl/.style={%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1); 
			\draw [very thick] (-1,.4) -- (1,.4);
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}   
	}
}

% PI-Regler
\tikzset{%
	PIctrl/.style={%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1); 
			\draw [very thick]   (-0.9,-1) -- (-0.9, -0.2) -- (0.9,.4);
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}   
	}
}

% Integrator
\tikzset{%
	int/.style={%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1);  
			\draw [very thick] (-1,-1) -- (1, 1);
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}               
	}
}

% Differenzierer
\tikzset{%
	diff/.style={%
		draw, 
		minimum size=1cm,
		path picture={
			% Get the width and height of the path picture node
			\pgfpointdiff{\pgfpointanchor{path picture bounding box}{south west}}%
			{\pgfpointanchor{path picture bounding box}{north east}}
			\pgfgetlastxy\x\y
			% Scale the x and y vectors so that the range
			% -1 to 1 is slightly shorter than the size of the node
			\tikzset{x=\x*.4, y=\y*.4}
			%
			% Draw annotation
			\draw [very thin] (-1,-1) -- (-1,1) (-1,-1) -- (1,-1); 
			\draw [very thick] (-0.9,-1) -- (-0.9, 0.6);
		},
		append after command={\pgfextra{\let\mainnode=\tikzlastnode}
			node[above] at (\mainnode.north) {#1}%
		}               
	}
}
%%---------------------
% Ende Blöcke
%% --------------------