Model {
  Name			  "exp5_7"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "normal"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Mon Dec 17 21:32:08 2001"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Dec 24 12:09:53 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:6>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "exp5_7"
    Location		    [52, 129, 698, 411]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "PID controller"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [295, 75, 415, 135]
      FontSize		      20
      ShowPortLabels	      on
      MaskType		      "PID controller"
      MaskDescription	      "輸入PID控制器的參數，比例系數、積分系數和微分系"
"數\n表達式：\nkp+ki/s+kd*s"
      MaskHelp		      "This block implements a PID controller where pa"
"rameters are\nentered for the Proportional,Integral and Derivative terms."
      MaskPromptString	      "比例系數kp|積分系數ki|微分系數kd"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskVariables	      "kp=@1;ki=@2;kd=@3;"
      MaskDisplay	      "disp('PID')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "2|3|10"
      System {
	Name			"PID controller"
	Location		[12, 93, 1032, 748]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In"
	  Position		  [200, 154, 245, 176]
	  FontSize		  20
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative2"
	  Position		  [460, 230, 515, 280]
	  FontSize		  20
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [355, 55, 405, 105]
	  FontSize		  20
	  Gain			  "kp"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain4"
	  Position		  [355, 139, 410, 191]
	  FontSize		  20
	  Gain			  "ki"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain5"
	  Position		  [355, 229, 410, 281]
	  FontSize		  20
	  Gain			  "kd"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [460, 146, 505, 184]
	  FontSize		  20
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [600, 134, 650, 196]
	  FontSize		  20
	  IconShape		  "rectangular"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out"
	  Position		  [755, 155, 795, 175]
	  FontSize		  20
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  DstBlock		  "Integrator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain5"
	  SrcPort		  1
	  DstBlock		  "Derivative2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  Points		  [175, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative2"
	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Sum1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In"
	  SrcPort		  1
	  Points		  [35, 0]
	  Branch {
	    DstBlock		    "Gain4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -85]
	    DstBlock		    "Gain3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 90]
	    DstBlock		    "Gain5"
	    DstPort		    1
	  }
	}
      }
    }
  }
}