Model {  Name			  "controller"  Version		  4.0  SampleTimeColors	  off  LibraryLinkDisplay	  "none"  WideLines		  off  ShowLineDimensions	  off  ShowPortDataTypes	  off  RecordCoverage	  off  CovPath		  "/"  CovSaveName		  "covdata"  CovNameIncrementing	  off  CovHtmlReporting	  on  BlockNameDataTip	  off  BlockParametersDataTip  off  BlockDescriptionStringDataTip	off  ToolBar		  on  StatusBar		  on  BrowserShowLibraryLinks off  BrowserLookUnderMasks	  off  Created		  "Tue Oct 30 13:46:27 2001"  Creator		  "dan"  UpdateHistory		  "UpdateHistoryNever"  ModifiedByFormat	  "%<Auto>"  LastModifiedBy	  "anton"  ModifiedDateFormat	  "%<Auto>"  LastModifiedDate	  "Tue Jun 24 16:09:26 2003"  ModelVersionFormat	  "1.%<AutoIncrement:55>"  ConfigurationManager	  "none"  SimParamPage		  "Solver"  LinearizationMsg	  "none"  Profile		  off  AccelSystemTargetFile	  "accel.tlc"  AccelTemplateMakefile	  "accel_default_tmf"  AccelMakeCommand	  "make_rtw"  ExtModeMexFile	  "ext_comm"  ExtModeBatchMode	  off  ExtModeTrigType	  "manual"  ExtModeTrigMode	  "normal"  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	  on  ExtModeLogAll		  on  BufferReuse		  on  SimulationMode	  "normal"  Solver		  "ode45"  SolverMode		  "Auto"  StartTime		  "0.0"  StopTime		  "10.0"  MaxOrder		  5  MaxStep		  "auto"  MinStep		  "auto"  MaxNumMinSteps	  "-1"  InitialStep		  "auto"  FixedStep		  "auto"  RelTol		  "1e-3"  AbsTol		  "auto"  OutputOption		  "RefineOutputTimes"  OutputTimes		  "[]"  Refine		  "1"  LoadExternalInput	  off  ExternalInput		  "[t, u]"  LoadInitialState	  off  InitialState		  "xInitial"  SaveTime		  on  TimeSaveName		  "tout"  SaveState		  off  StateSaveName		  "xout"  SaveOutput		  on  OutputSaveName	  "yout"  SaveFinalState	  off  FinalStateName	  "xFinal"  SaveFormat		  "Array"  Decimation		  "1"  LimitDataPoints	  on  MaxDataPoints		  "1000"  ConsistencyChecking	  "none"  ArrayBoundsChecking	  "none"  AlgebraicLoopMsg	  "warning"  BlockPriorityViolationMsg "warning"  MinStepSizeMsg	  "warning"  InheritedTsInSrcMsg	  "warning"  MultiTaskRateTransMsg	  "error"  SingleTaskRateTransMsg  "none"  CheckForMatrixSingularity "none"  IntegerOverflowMsg	  "warning"  Int32ToFloatConvMsg	  "warning"  UnnecessaryDatatypeConvMsg "none"  VectorMatrixConversionMsg "none"  SignalLabelMismatchMsg  "none"  UnconnectedInputMsg	  "warning"  UnconnectedOutputMsg	  "warning"  UnconnectedLineMsg	  "warning"  SfunCompatibilityCheckMsg "none"  RTWInlineParameters	  off  BlockReductionOpt	  off  BooleanDataType	  off  ParameterPooling	  on  OptimizeBlockIOStorage  on  ZeroCross		  on  RTWSystemTargetFile	  "grt.tlc"  RTWTemplateMakefile	  "grt_default_tmf"  RTWMakeCommand	  "make_rtw"  RTWGenerateCodeOnly	  off  RTWRetainRTWFile	  off  TLCProfiler		  off  TLCDebug		  off  TLCCoverage		  off  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		    "tp092601"    Location		    [225, 288, 586, 469]    Open		    off    ModelBrowserVisibility  off    ModelBrowserWidth	    200    ScreenColor		    "white"    PaperOrientation	    "landscape"    PaperPositionMode	    "auto"    PaperType		    "usletter"    PaperUnits		    "inches"    ZoomFactor		    "100"    ReportName		    "simulink-default.rpt"    Block {      BlockType		      Inport      Name		      "r"      Position		      [25, 23, 55, 37]      Port		      "1"      PortDimensions	      "-1"      SampleTime	      "-1"      DataType		      "auto"      SignalType	      "auto"      Interpolate	      on    }    Block {      BlockType		      Inport      Name		      "y"      Position		      [25, 68, 55, 82]      Port		      "2"      PortDimensions	      "-1"      SampleTime	      "-1"      DataType		      "auto"      SignalType	      "auto"      Interpolate	      on    }    Block {      BlockType		      SubSystem      Name		      "Discrete time\nPID controller"      Ports		      [2, 1]      Position		      [145, 25, 215, 80]      ShowPortLabels	      on      Permissions	      "ReadWrite"      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      SimViewingDevice	      off      MaskPromptString	      "K|Ti|Td|N|h"      MaskStyleString	      "edit,edit,edit,edit,edit"      MaskTunableValueString  "on,on,on,on,on"      MaskCallbackString      "||||"      MaskEnableString	      "on,on,on,on,on"      MaskVisibilityString    "on,on,on,on,on"      MaskToolTipString	      "on,on,on,on,on"      MaskVariables	      "K=@1;Ti=@2;Td=@3;N=@4;h=@5;"      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "autoscale"      MaskValueString	      "0.96|0.12|0.049|10|0.006"      System {	Name			"Discrete time\nPID controller"	Location		[163, 64, 792, 361]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "r"	  Position		  [25, 93, 55, 107]	  Port			  "1"	  PortDimensions	  "-1"	  SampleTime		  "-1"	  DataType		  "auto"	  SignalType		  "auto"	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "y"	  Position		  [25, 188, 55, 202]	  Port			  "2"	  PortDimensions	  "-1"	  SampleTime		  "-1"	  DataType		  "auto"	  SignalType		  "auto"	  Interpolate		  on	}	Block {	  BlockType		  UnitDelay	  Name			  "\n"	  Position		  [145, 176, 180, 214]	  X0			  "0"	  SampleTime		  "1"	}	Block {	  BlockType		  Gain	  Name			  "\n\n\n"	  Position		  [175, 85, 205, 115]	  Gain			  "K*h/Ti"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  UnitDelay	  Name			  "    "	  Position		  [315, 80, 350, 120]	  X0			  "0"	  SampleTime		  "1"	}	Block {	  BlockType		  UnitDelay	  Name			  "         "	  Position		  [480, 175, 515, 215]	  X0			  "0"	  SampleTime		  "1"	}	Block {	  BlockType		  Gain	  Name			  "            "	  Position		  [270, 20, 300, 50]	  Gain			  "K"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "             "	  Position		  [280, 180, 310, 210]	  NamePlacement		  "alternate"	  Gain			  "K*Td*N/(Td+N*h)"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "              "	  Position		  [470, 225, 500, 255]	  Orientation		  "left"	  NamePlacement		  "alternate"	  Gain			  "Td/(Td+N*h)"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum"	  Ports			  [2, 1]	  Position		  [85, 90, 105, 110]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|+-"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum1"	  Ports			  [3, 1]	  Position		  [520, 68, 550, 132]	  ShowName		  off	  IconShape		  "rectangular"	  Inputs		  "+++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum2"	  Ports			  [2, 1]	  Position		  [255, 90, 275, 110]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum3"	  Ports			  [2, 1]	  Position		  [225, 185, 245, 205]	  NamePlacement		  "alternate"	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|+-"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum4"	  Ports			  [2, 1]	  Position		  [360, 185, 380, 205]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Outport	  Name			  "u"	  Position		  [585, 93, 615, 107]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "y"	  SrcPort		  1	  Points		  [0, 0; 35, 0]	  Branch {	    DstBlock		    "Sum"	    DstPort		    2	  }	  Branch {	    DstBlock		    "\n"	    DstPort		    1	  }	  Branch {	    Points		    [0, 40; 140, 0]	    DstBlock		    "Sum3"	    DstPort		    2	  }	}	Line {	  SrcBlock		  "r"	  SrcPort		  1	  DstBlock		  "Sum"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum1"	  SrcPort		  1	  DstBlock		  "u"	  DstPort		  1	}	Line {	  SrcBlock		  "            "	  SrcPort		  1	  Points		  [130, 0; 0, 45]	  DstBlock		  "Sum1"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum2"	  SrcPort		  1	  DstBlock		  "    "	  DstPort		  1	}	Line {	  SrcBlock		  "         "	  SrcPort		  1	  Points		  [50, 0; 0, 45]	  DstBlock		  "              "	  DstPort		  1	}	Line {	  SrcBlock		  "             "	  SrcPort		  1	  DstBlock		  "Sum4"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum3"	  SrcPort		  1	  DstBlock		  "             "	  DstPort		  1	}	Line {	  SrcBlock		  "Sum4"	  SrcPort		  1	  Points		  [50, 0]	  Branch {	    DstBlock		    "         "	    DstPort		    1	  }	  Branch {	    Points		    [0, -75]	    DstBlock		    "Sum1"	    DstPort		    3	  }	}	Line {	  SrcBlock		  "\n"	  SrcPort		  1	  DstBlock		  "Sum3"	  DstPort		  1	}	Line {	  SrcBlock		  "    "	  SrcPort		  1	  Points		  [40, 0]	  Branch {	    Points		    [0, 45; -130, 0]	    DstBlock		    "Sum2"	    DstPort		    2	  }	  Branch {	    DstBlock		    "Sum1"	    DstPort		    2	  }	}	Line {	  SrcBlock		  "\n\n\n"	  SrcPort		  1	  DstBlock		  "Sum2"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum"	  SrcPort		  1	  Points		  [25, 0]	  Branch {	    DstBlock		    "\n\n\n"	    DstPort		    1	  }	  Branch {	    Points		    [0, -65]	    DstBlock		    "            "	    DstPort		    1	  }	}	Line {	  SrcBlock		  "              "	  SrcPort		  1	  Points		  [-95, 0]	  DstBlock		  "Sum4"	  DstPort		  2	}	Annotation {	  Text			  "K*h/Ti"	  Position		  [186, 126]	}	Annotation {	  Text			  "K*Td*N/(Td+N*h)"	  Position		  [294, 224]	}	Annotation {	  Text			  "Td/(Td+N*h)"	  Position		  [487, 268]	}      }    }    Block {      BlockType		      Constant      Name		      "ExecTime"      Position		      [155, 119, 200, 151]      Value		      "0.002"      VectorParams1D	      on    }    Block {      BlockType		      Outport      Name		      "u"      Position		      [285, 48, 315, 62]      Port		      "1"      OutputWhenDisabled      "held"      InitialOutput	      "[]"    }    Block {      BlockType		      Outport      Name		      "e"      Position		      [285, 128, 315, 142]      Port		      "2"      OutputWhenDisabled      "held"      InitialOutput	      "[]"    }    Line {      SrcBlock		      "Discrete time\nPID controller"      SrcPort		      1      DstBlock		      "u"      DstPort		      1    }    Line {      SrcBlock		      "y"      SrcPort		      1      Points		      [60, 0; 0, -10]      DstBlock		      "Discrete time\nPID controller"      DstPort		      2    }    Line {      SrcBlock		      "r"      SrcPort		      1      Points		      [60, 0; 0, 10]      DstBlock		      "Discrete time\nPID controller"      DstPort		      1    }    Line {      SrcBlock		      "ExecTime"      SrcPort		      1      DstBlock		      "e"      DstPort		      1    }  }}