DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 2\n(Actuator)"      Ports		      [1, 1]      Position		      [85, 91, 150, 149]      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 2\n(Actuator)"	Location		[33, 710, 383, 850]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "Rcv"	  Position		  [30, 83, 60, 97]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [20, 55, 40, 75]	  ShowName		  off	}	Block {	  BlockType		  Ground	  Name			  "Ground1"	  Position		  [20, 30, 40, 50]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, actuator node"	  Ports			  [1]	  Position		  [275, 64, 300, 86]	  Floating		  off	  Location		  [83, 518, 897, 977]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "on"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "3.7"	  SaveToWorkspace	  off	  SaveName		  "ScopeData"	  DataFormat		  "Array"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [225, 85, 245, 105]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [225, 45, 245, 65]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 4]	  Position		  [80, 27, 195, 103]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  "Unknown"	  sfun			  "actuator_init"	}	Block {	  BlockType		  Outport	  Name			  "D/A"	  Position		  [270, 28, 300, 42]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "Ground1"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}	Line {	  SrcBlock		  "Rcv"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  Labels		  [1, 0]	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  DstBlock		  "D/A"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  DstBlock		  "Schedule, actuator node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  DstBlock		  "Terminator"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 3\n(Sensor)"      Ports		      [1, 1]      Position		      [325, 91, 390, 149]      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 3\n(Sensor)"	Location		[19, 471, 372, 607]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "A/D"	  Position		  [30, 28, 60, 42]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [35, 55, 55, 75]	  ShowName		  off	}	Block {	  BlockType		  Ground	  Name			  "Ground1"	  Position		  [35, 80, 55, 100]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, sensor node"	  Ports			  [1]	  Position		  [280, 64, 305, 86]	  Floating		  off	  Location		  [7, 47, 1275, 965]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "on"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "3.7"	  SaveToWorkspace	  off	  SaveName		  "ScopeData"	  DataFormat		  "Array"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [240, 85, 260, 105]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [285, 30, 305, 50]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 4]	  Position		  [100, 27, 215, 103]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  "Unknown"	  sfun			  "sensor_init"	}	Block {	  BlockType		  Outport	  Name			  "Snd"	  Position		  [240, 48, 270, 62]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  DstBlock		  "Terminator"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  DstBlock		  "Schedule, sensor node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  DstBlock		  "Snd"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  Points		  [0, 5]	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  SrcBlock		  "Ground1"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "A/D"	  SrcPort		  1	  Points		  [0, 5]	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 4\n(Controller)"      Ports		      [2, 1]      Position		      [550, 92, 620, 168]      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 4\n(Controller)"	Location		[23, 865, 371, 1008]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "AI1"	  Position		  [15, 28, 45, 42]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "Rcv"	  Position		  [20, 98, 50, 112]	  Port			  "2"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [20, 60, 40, 80]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, computer node"	  Ports			  [1]	  Position		  [270, 68, 295, 92]	  Floating		  off	  Location		  [535, 408, 1275, 654]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "OneTimeTick"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "4.7"	  SaveToWorkspace	  on	  SaveName		  "schedule"	  DataFormat		  "StructureWithTime"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [235, 90, 255, 110]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [270, 30, 290, 50]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 4]	  Position		  [85, 32, 200, 108]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  "Unknown"	  sfun			  "controller_init"	}	Block {	  BlockType		  Outport	  Name			  "Snd"	  Position		  [230, 53, 260, 67]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  DstBlock		  "Snd"	  DstPort		  1	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  SrcBlock		  "AI1"	  SrcPort		  1	  Points		  [20, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}	Line {	  SrcBlock		  "Rcv"	  SrcPort		  1	  Points		  [15, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  DstBlock		  "Schedule, computer node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  DstBlock		  "Terminator"	  DstPort		  1	}      }    }    Block {      BlockType		      Reference      Name		      "Reference"      Ports		      [0, 1]      Position		      [470, 95, 500, 125]      SourceBlock	      "simulink3/Sources/Repeating\nSequence"      SourceType	      "Repeating table"      rep_seq_t		      "[0 0.3 0.3 0.6]"      rep_seq_y		      "[1 1 0 0]"    }    Block {      BlockType		      Terminator      Name		      "Terminator2"      Position		      [530, 243, 550, 257]      ShowName		      off    }    Block {      BlockType		      Scope      Name		      "r, y"      Ports		      [1]      Position		      [630, 38, 655, 62]      Floating		      off      Location		      [973, 131, 1333, 390]      Open		      off      NumInputPorts	      "1"      TickLabels	      "OneTimeTick"      ZoomMode		      "yonly"      List {	ListType		AxesTitles	axes1			"%<SignalLabel>"      }      List {	ListType		SelectedSignals	axes1			""      }      Grid		      "on"      TimeRange		      "0.6"      YMin		      "-0.5"      YMax		      "1.5"      SaveToWorkspace	      on      SaveName		      "y"      DataFormat	      "StructureWithTime"      LimitDataPoints	      off      MaxDataPoints	      "5000"      Decimation	      "1"      SampleInput	      off      SampleTime	      "0"    }    Block {      BlockType		      Scope      Name		      "u"      Ports		      [1]      Position		      [225, 167, 250, 193]      Floating		      off      Location		      [972, 448, 1335, 709]      Open		      off      NumInputPorts	      "1"      TickLabels	      "OneTimeTick"      ZoomMode		      "yonly"      List {	ListType		AxesTitles	axes1			"%<SignalLabel>"      }      List {	ListType		SelectedSignals	axes1			""      }      Grid		      "on"      TimeRange		      "0.6"      YMin		      "-2"      YMax		      "2"      SaveToWorkspace	      on      SaveName		      "u"      DataFormat	      "StructureWithTime"      LimitDataPoints	      off      MaxDataPoints	      "5000"      Decimation	      "1"      SampleInput	      off      SampleTime	      "0"    }    Line {      SrcBlock		      "From7"      SrcPort		      1      DstBlock		      "Network"      DstPort		      1    }    Line {      SrcBlock		      "Ground1"      SrcPort		      1      DstBlock		      "Network"      DstPort		      2    }    Line {      SrcBlock		      "Network"      SrcPort		      1      DstBlock		      "Goto"      DstPort		      1    }    Line {      SrcBlock		      "Node 2\n(Actuator)"      SrcPort		      1      Points		      [0, 0; 20, 0]      Branch {	DstBlock		"DC Servo"	DstPort			1      }      Branch {	Points			[0, 60]	DstBlock		"u"	DstPort			1      }    }    Line {      SrcBlock		      "Node 4\n(Controller)"      SrcPort		      1      DstBlock		      "Goto3"      DstPort		      1    }    Line {      SrcBlock		      "From2"      SrcPort		      1      DstBlock		      "Node 2\n(Actuator)"      DstPort		      1    }    Line {      SrcBlock		      "Clock"      SrcPort		      1      DstBlock		      "Display"      DstPort		      1    }    Line {      SrcBlock		      "Reference"      SrcPort		      1      Points		      [0, 0; 20, 0]      Branch {	DstBlock		"Node 4\n(Controller)"	DstPort			1      }      Branch {	Points			[0, -50]	DstBlock		"Mux"	DstPort			2      }    }    Line {      SrcBlock		      "Network"      SrcPort		      2      DstBlock		      "Goto1"      DstPort		      1    }    Line {      SrcBlock		      "From3"      SrcPort		      1      DstBlock		      "Node 4\n(Controller)"      DstPort		      2    }    Line {      SrcBlock		      "Mux"      SrcPort		      1      DstBlock		      "r, y"      DstPort		      1    }    Line {      SrcBlock		      "Node 1\n(Interference)"      SrcPort		      1      DstBlock		      "Goto4"      DstPort		      1    }    Line {      SrcBlock		      "Network"      SrcPort		      3      DstBlock		      "Terminator2"      DstPort		      1    }    Line {      SrcBlock		      "From4"      SrcPort		      1      DstBlock		      "Network"      DstPort		      3    }    Line {      SrcBlock		      "From5"      SrcPort		      1      DstBlock		      "Node 1\n(Interference)"      DstPort		      1    }    Line {      SrcBlock		      "DC Servo"      SrcPort		      1      Points		      [0, 0; 25, 0]      Branch {	DstBlock		"Node 3\n(Sensor)"	DstPort			1      }      Branch {	Points			[0, -80]	DstBlock		"Mux"	DstPort			1      }    }    Line {      SrcBlock		      "Node 3\n(Sensor)"      SrcPort		      1      DstBlock		      "Goto6"      DstPort		      1    }    Line {      SrcBlock		      "Network"      SrcPort		      4      DstBlock		      "Goto2"      DstPort		      1    }    Line {      SrcBlock		      "From6"      SrcPort		      1      DstBlock		      "Network"      DstPort		      4    }    Annotation {      Position		      [188, 111]      Text		      "u"    }    Annotation {      Position		      [307, 108]      Text		      "y"    }    Annotation {      Position		      [512, 103]      Text		      "r"    }  }}