?? c5f14.mdl
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ShowName off
IconShape "round"
Inputs "+-+"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [260, 240, 280, 260]
ShowName off
IconShape "round"
Inputs "+-+"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [325, 72, 385, 108]
Numerator "[1]"
Denominator "[1 -Zw]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [325, 232, 385, 268]
Numerator "[1]"
Denominator "[1 -Mq]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Outport
Name "w"
Position [445, 83, 475, 97]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "q"
Position [440, 243, 470, 257]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "sig3"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [80, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "sig2"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-40, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [-65, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "delta"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 245]
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [60, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 100]
DstBlock "Gain3"
DstPort 1
}
Branch {
DstBlock "w"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, -105]
DstBlock "Gain2"
DstPort 1
}
Branch {
DstBlock "q"
DstPort 1
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}
}
Block {
BlockType SubSystem
Name "Subsystem 3"
Ports [3, 1]
Position [385, 200, 460, 260]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Subsystem 3"
Location [470, 76, 934, 301]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "q"
Position [25, 38, 55, 52]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "alpha"
Position [30, 103, 60, 117]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "gamma_c"
Position [30, 173, 60, 187]
Port "3"
LatchInput off
Interpolate on
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [3, 1]
Position [210, 85, 250, 145]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Subsystem"
Location [470, 77, 935, 302]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "q"
Position [25, 38, 55, 52]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "alpha"
Position [30, 103, 60, 117]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "gamma_c"
Position [30, 173, 60, 187]
Port "3"
LatchInput off
Interpolate on
}
Block {
BlockType Gain
Name "Gain1"
Position [160, 28, 200, 62]
Gain "KQ"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain2"
Position [160, 93, 195, 127]
Gain "Ka"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain3"
Position [285, 38, 315, 72]
Gain "KF"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain4"
Position [280, 94, 305, 126]
Gain "Kf"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [320, 95, 350, 125]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [215, 100, 235, 120]
ShowName off
IconShape "round"
Inputs "--+"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [365, 100, 385, 120]
ShowName off
IconShape "round"
Inputs "++|"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [85, 26, 130, 64]
Numerator "[1, w1]"
Denominator "[1 w2]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [85, 91, 130, 129]
Numerator "1"
Denominator "[ta 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [95, 161, 140, 199]
Numerator "1"
Denominator "[ts 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Outport
Name "Out1"
Position [410, 103, 440, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [55, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Gain4"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Gain3"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
Points [80, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [20, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "gamma_c"
SrcPort 1
DstBlock "Transfer Fcn2"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "alpha"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [410, 103, 440, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "q"
SrcPort 1
Points [65, 0; 0, 50]
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