Library {
  Name			  "my_blks"
  Version		  4.00
  Description		  "This library contains the blocks commonly used in c"
"ontrol\\n system simulation"
  LibraryLinkDisplay	  "none"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  off
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Fri Aug 10 16:54:10 2001"
  Creator		  "Professor Dingyu Xue"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Sun Aug 12 17:06:18 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:3>"
  ConfigurationManager	  "None"
  SimParamPage		  "Solver"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  Profile		  off
  SimulationMode	  "normal"
  RTWRetainRTWFile	  off
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  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
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  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		    "my_blks"
    Location		    [178, 123, 659, 342]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Inport
      Name		      "In1"
      Position		      [135, 23, 165, 37]
      Port		      "1"
      LatchInput	      off
      Interpolate	      on
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [85, 20, 105, 40]
      DisplayTime	      off
      Decimation	      "10"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 2]
      Position		      [295, 16, 300, 54]
      BackgroundColor	      "black"
      Outputs		      "2"
      BusSelectionMode	      off
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn"
      Position		      [230, 150, 290, 180]
      Expr		      "sin(u(1)*exp(2.3*(-u(2))))"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [75, 145, 105, 175]
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [25, 75, 55, 105]
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Reference
      Name		      "LTI System"
      Ports		      [1, 1]
      Position		      [360, 77, 455, 113]
      SourceBlock	      "cstblocks/LTI System"
      SourceType	      "LTI Block"
      sys		      "tf(1,[1 1])"
      IC		      "[]"
    }
    Block {
      BlockType		      Lookup
      Name		      "Look-Up\nTable"
      Position		      [145, 134, 195, 186]
      InputValues	      "[-5:5]"
      OutputValues	      "tanh([-5:5])"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [260, 16, 265, 54]
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SubSystem
      Name		      "PID Controller"
      Ports		      [1, 1]
      Position		      [320, 146, 390, 184]
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskType		      "PID Controller"
      MaskPromptString	      "Proportional Kp|Integral Ti|Derivative Td|Filte"
"r Constant N "
      MaskStyleString	      "edit,edit,edit,popup(10|100|1000)"
      MaskTunableValueString  "on,on,on,on"
      MaskCallbackString      "|||"
      MaskEnableString	      "on,on,on,on"
      MaskVisibilityString    "on,on,on,on"
      MaskToolTipString	      "on,on,on,on"
      MaskVariables	      "Kp=@1;Ti=@2;Td=@3;N=@4;"
      MaskDisplay	      "disp('PID\\nController')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "|||10"
      MaskVariableAliases     ",,,"
      System {
	Name			"PID Controller"
	Location		[470, 74, 845, 267]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 78, 55, 92]
	  Port			  "1"
	  LatchInput		  off
	  Interpolate		  on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [95, 70, 125, 100]
	  Gain			  "Kp"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral"
	  Position		  [165, 62, 225, 98]
	  Numerator		  "[1]"
	  Denominator		  "[Ti 0]"
	  AbsoluteTolerance	  "auto"
	  Realization		  "auto"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [270, 70, 290, 90]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn"
	  Position		  [165, 127, 225, 163]
	  Numerator		  "[Td 0]"
	  Denominator		  "[Td/N 1]"
	  AbsoluteTolerance	  "auto"
	  Realization		  "auto"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [320, 73, 350, 87]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    Points		    [0, -5]
	    Branch {
	      Points		      [0, -55; 140, 0]
	      DstBlock		      "Sum"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Integral"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "Transfer Fcn"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Integral"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Transfer Fcn"
	  SrcPort		  1
	  Points		  [50, 0]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [430, 19, 460, 51]
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Signal\nGenerator"
      Position		      [415, 145, 445, 175]
      WaveForm		      "sine"
      Amplitude		      "1"
      Frequency		      "1"
      Units		      "Hertz"
      VectorParams1D	      on
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space"
      Position		      [190, 73, 250, 107]
      A			      "1"
      B			      "1"
      C			      "1"
      D			      "1"
      X0		      "0"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [20, 15, 50, 45]
      Time		      "0"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [20, 150, 40, 170]
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [335, 20, 395, 50]
      VariableName	      "simout"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Structure"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [95, 72, 155, 108]
      Numerator		      "[1]"
      Denominator	      "[1 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Transport\nDelay"
      Position		      [290, 75, 320, 105]
      DelayTime		      "1"
      InitialInput	      "0"
      BufferSize	      "1024"
      PadeOrder		      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "Out1"
      Position		      [195, 23, 225, 37]
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
  }
}