?? yidlblqr1.mdl
字號:
PaperUnits "centimeters"
ZoomFactor "100"
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BlockType Inport
Name "In1"
Position [65, 238, 95, 252]
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Block {
BlockType Gain
Name "A1"
Position [410, 235, 440, 265]
Orientation "left"
Gain "2.6727"
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Block {
BlockType Gain
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Orientation "left"
Gain "-0.1818"
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Block {
BlockType Gain
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Block {
BlockType Gain
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Orientation "left"
Gain "31.1818"
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Block {
BlockType Gain
Name "B1"
Position [160, 105, 190, 135]
Gain "1.8182"
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Block {
BlockType Gain
Name "B41"
Position [160, 325, 190, 355]
Gain "4.5455"
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Block {
BlockType Derivative
Name "Derivative"
Position [480, 390, 510, 420]
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Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [320, 135, 350, 165]
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Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [430, 135, 460, 165]
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Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [325, 325, 355, 355]
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Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [410, 325, 440, 355]
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Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [245, 104, 265, 196]
ShowName off
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
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Block {
BlockType Sum
Name "Sum2"
Ports [3, 1]
Position [245, 294, 270, 386]
ShowName off
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
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Block {
BlockType Outport
Name "x"
Position [560, 143, 590, 157]
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Block {
BlockType Outport
Name "x'"
Position [560, 208, 590, 222]
Port "2"
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Block {
BlockType Outport
Name "fei"
Position [560, 333, 590, 347]
Port "3"
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Block {
BlockType Outport
Name "fei'"
Position [560, 398, 590, 412]
Port "4"
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SrcPort 1
Points [0, 0; 15, 0]
Branch {
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DstBlock "B41"
DstPort 1
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Branch {
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DstBlock "B1"
DstPort 1
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Line {
SrcBlock "B1"
SrcPort 1
DstBlock "Sum1"
DstPort 1
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Line {
Labels [0, 0]
SrcBlock "Sum1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
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Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
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Branch {
DstBlock "x'"
DstPort 1
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Branch {
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DstBlock "A42"
DstPort 1
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Branch {
DstBlock "A22"
DstPort 1
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Branch {
DstBlock "Integrator1"
DstPort 1
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Line {
SrcBlock "Integrator1"
SrcPort 1
DstBlock "x"
DstPort 1
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Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
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Line {
SrcBlock "Integrator2"
SrcPort 1
DstBlock "Integrator3"
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Line {
SrcBlock "Integrator3"
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Points [0, 0; 10, 0]
Branch {
DstBlock "fei"
DstPort 1
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Branch {
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Branch {
DstBlock "Derivative"
DstPort 1
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Branch {
DstBlock "A43"
DstPort 1
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Branch {
DstBlock "A1"
DstPort 1
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Line {
SrcBlock "A42"
SrcPort 1
Points [-95, 0; 0, 30]
DstBlock "Sum2"
DstPort 1
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Line {
SrcBlock "B41"
SrcPort 1
DstBlock "Sum2"
DstPort 2
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Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "fei'"
DstPort 1
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Line {
SrcBlock "A43"
SrcPort 1
Points [-95, 0; 0, -35]
DstBlock "Sum2"
DstPort 3
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Line {
SrcBlock "A22"
SrcPort 1
Points [-85, 0]
DstBlock "Sum1"
DstPort 2
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Line {
SrcBlock "A1"
SrcPort 1
Points [-195, 0; 0, -70]
DstBlock "Sum1"
DstPort 3
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Annotation {
Name "x''"
Position [284, 138]
}
Annotation {
Name "x'"
Position [399, 142]
}
Annotation {
Name "fei''"
Position [282, 330]
}
Annotation {
Name "fei'"
Position [380, 329]
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [5, 1]
Position [275, 144, 295, 256]
ShowName off
Inputs "+----"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [70, 113, 95, 202]
ShowName off
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Subsystem1"
DstPort 1
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Line {
SrcBlock "Subsystem1"
SrcPort 1
Points [0, 0; 85, 0]
Branch {
Points [0, 375]
DstBlock "Gain3"
DstPort 1
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Branch {
DstBlock "Scope"
DstPort 1
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Line {
SrcBlock "Subsystem1"
SrcPort 2
Points [60, 0; 0, 280]
DstBlock "Gain2"
DstPort 1
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Line {
SrcBlock "Subsystem1"
SrcPort 3
Points [0, 0; 35, 0]
Branch {
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DstBlock "Gain1"
DstPort 1
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Branch {
DstBlock "Scope1"
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Line {
SrcBlock "Subsystem1"
SrcPort 4
Points [15, 0; 0, 90]
DstBlock "Gain"
DstPort 1
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Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum1"
DstPort 1
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Line {
SrcBlock "Step1"
SrcPort 1
DstBlock "Sum1"
DstPort 2
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Line {
SrcBlock "Gain"
SrcPort 1
Points [-165, 0; 0, -110]
DstBlock "Sum"
DstPort 5
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Line {
SrcBlock "Gain1"
SrcPort 1
Points [-150, 0; 0, -185]
DstBlock "Sum"
DstPort 4
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Line {
SrcBlock "Gain2"
SrcPort 1
Points [-125, 0; 0, -260]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-100, 0; 0, -335]
DstBlock "Sum"
DstPort 2
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Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Annotation {
Name "u"
Position [343, 189]
}
Annotation {
Name "線性一級倒立擺LQR實驗1"
Position [340, 38]
ForegroundColor "red"
BackgroundColor "yellow"
FontName "Arial"
FontSize 20
}
}
}
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