System {
    Name		    "threedim_control"
    Location		    [158, 251, 858, 649]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "2-dimensional\nAngle\nController"
      Ports		      [1, 1]
      Position		      [245, 275, 275, 305]
      Orientation	      "left"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskType		      "PID Controller"
      MaskDescription	      "Enter expressions for proportional, integral, a"
"nd derivative terms.\nP+I/s+Ds"
      MaskHelp		      "This block implements a PID controller where pa"
"rameters are entered for the Proportional, Integral and Derivative terms. Unm"
"ask this block to see how it works. The derivative term is implemented using "
"a true derivative block."
      MaskPromptString	      "Proportional:|Integral:|Derivative:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "P=@1;I=@2;D=@3;"
      MaskDisplay	      "disp('PID')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "41.6|38.3|27.3"
      MaskTabNameString	      ",,"
      System {
	Name			"2-dimensional\nAngle\nController"
	Location		[238, 329, 660, 703]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In_1"
	  Position		  [25, 170, 45, 190]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "D X"
	  Position		  [120, 129, 140, 151]
	  Gain			  "D"
	}
	Block {
	  BlockType		  Gain
	  Name			  "D Z"
	  Position		  [120, 304, 140, 326]
	  Gain			  "D"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2]
	  Position		  [70, 161, 75, 199]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative X"
	  Position		  [175, 128, 215, 152]
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative Z"
	  Position		  [175, 303, 215, 327]
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral X"
	  Position		  [135, 57, 170, 93]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral Z"
	  Position		  [135, 232, 170, 268]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [2, 1]
	  Position		  [330, 151, 335, 189]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional X"
	  Position		  [145, 13, 165, 37]
	  Gain			  "P"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional Z"
	  Position		  [145, 188, 165, 212]
	  Gain			  "P"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum X"
	  Ports			  [3, 1]
	  Position		  [270, 57, 290, 93]
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum Z"
	  Ports			  [3, 1]
	  Position		  [270, 232, 290, 268]
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out_1"
	  Position		  [370, 160, 390, 180]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "D X"
	  SrcPort		  1
	  DstBlock		  "Derivative X"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Derivative X"
	  SrcPort		  1
	  Points		  [20, 0; 0, -55]
	  DstBlock		  "Sum X"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integral X"
	  SrcPort		  1
	  DstBlock		  "Sum X"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Proportional X"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum X"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In_1"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  Points		  [0, 10; 15, 0]
	  Branch {
	    DstBlock		    "Proportional Z"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    Branch {
	      DstBlock		      "Integral Z"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 65]
	      DstBlock		      "D Z"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  Points		  [0, -30; 15, 0]
	  Branch {
	    DstBlock		    "D X"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -65]
	    Branch {
	      DstBlock		      "Integral X"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -50]
	      DstBlock		      "Proportional X"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Sum X"
	  SrcPort		  1
	  Points		  [10, 0; 0, 85]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum Z"
	  SrcPort		  1
	  Points		  [10, 0; 0, -70]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "D Z"
	  SrcPort		  1
	  DstBlock		  "Derivative Z"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Derivative Z"
	  SrcPort		  1
	  Points		  [20, 0; 0, -55]
	  DstBlock		  "Sum Z"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integral Z"
	  SrcPort		  1
	  DstBlock		  "Sum Z"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Proportional Z"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum Z"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "Out_1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "2-dimensional\nPosition\nController"
      Ports		      [1, 1]
      Position		      [115, 170, 145, 200]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskType		      "PID Controller"
      MaskDescription	      "Enter expressions for proportional, integral, a"
"nd derivative terms.\nP+I/s+Ds"
      MaskHelp		      "This block implements a PID controller where pa"
"rameters are entered for the Proportional, Integral and Derivative terms. Unm"
"ask this block to see how it works. The derivative term is implemented using "
"a true derivative block."
      MaskPromptString	      "Proportional:|Integral:|Derivative:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "P=@1;I=@2;D=@3;"
      MaskDisplay	      "disp('PID')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "-1.681|-0.0133|-0.325"
      MaskTabNameString	      ",,"
      System {
	Name			"2-dimensional\nPosition\nController"
	Location		[410, 373, 832, 747]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In_1"
	  Position		  [25, 170, 45, 190]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "D"
	  Position		  [120, 129, 140, 151]
	  Gain			  "D"
	}
	Block {
	  BlockType		  Gain
	  Name			  "D1"
	  Position		  [120, 304, 140, 326]
	  Gain			  "D"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2]
	  Position		  [70, 161, 75, 199]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative"
	  Position		  [175, 128, 215, 152]
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative1"
	  Position		  [175, 303, 215, 327]
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral"
	  Position		  [135, 57, 170, 93]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral1"
	  Position		  [135, 232, 170, 268]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [2, 1]
	  Position		  [330, 151, 335, 189]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional"
	  Position		  [145, 13, 165, 37]
	  Gain			  "P"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional1"
	  Position		  [145, 188, 165, 212]
	  Gain			  "P"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [270, 57, 290, 93]
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [3, 1]
	  Position		  [270, 232, 290, 268]
	  Inputs		  "+++"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out_1"
	  Position		  [370, 160, 390, 180]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "Out_1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Proportional1"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integral1"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative1"
	  SrcPort		  1
	  Points		  [20, 0; 0, -55]
	  DstBlock		  "Sum1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "D1"
	  SrcPort		  1
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  Points		  [0, -70]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [0, 85]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  Points		  [0, -30; 15, 0]
	  Branch {
	    Points		    [0, -65]
	    Branch {
	      Points		      [0, -50]
	      DstBlock		      "Proportional"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Integral"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "D"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  Points		  [0, 10; 15, 0]
	  Branch {
	    Points		    [0, 50]
	    Branch {
	      Points		      [0, 65]
	      DstBlock		      "D1"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Integral1"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Proportional1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "In_1"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Proportional"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integral"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  Points		  [20, 0; 0, -55]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "D"
	  SrcPort		  1
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Coordinates 3D\ntransformation"
      Ports		      [2, 2]
      Position		      [135, 30, 270, 85]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Coordinates 3D\ntransformation"
	Location		[604, 276, 955, 594]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Marker XZ"
	  Position		  [25, 118, 55, 132]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "Pendulum XZ"
	  Position		  [25, 168, 55, 182]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 2]
	  Position		  [90, 105, 95, 145]
	  BackgroundColor	  "black"