Model {  Name			  "servo"  Version		  4.00  SampleTimeColors	  off  LibraryLinkDisplay	  "none"  WideLines		  off  ShowLineDimensions	  off  ShowPortDataTypes	  off  ShowStorageClass	  off  ExecutionOrder	  off  RecordCoverage	  off  CovPath		  "/"  CovSaveName		  "covdata"  CovMetricSettings	  "dw"  CovNameIncrementing	  off  CovHtmlReporting	  on  BlockNameDataTip	  off  BlockParametersDataTip  on  BlockDescriptionStringDataTip	off  ToolBar		  on  StatusBar		  on  BrowserShowLibraryLinks off  BrowserLookUnderMasks	  off  InitFcn		  "clear functions"  Created		  "Wed Nov  3 20:14:37 1999"  Creator		  "anton"  UpdateHistory		  "UpdateHistoryNever"  ModifiedByFormat	  "%<Auto>"  LastModifiedBy	  "anton"  ModifiedDateFormat	  "%<Auto>"  LastModifiedDate	  "Thu Jan  4 10:20:52 2007"  ModelVersionFormat	  "1.%<AutoIncrement:272>"  ConfigurationManager	  "none"  SimParamPage		  "Solver"  StartTime		  "0.0"  StopTime		  "2"  SolverMode		  "Auto"  Solver		  "ode45"  RelTol		  "1e-3"  AbsTol		  "auto"  Refine		  "1"  MaxStep		  "auto"  MinStep		  "auto"  MaxNumMinSteps	  "-1"  InitialStep		  "auto"  FixedStep		  "auto"  MaxOrder		  5  OutputOption		  "RefineOutputTimes"  OutputTimes		  "[0.00199]"  LoadExternalInput	  off  ExternalInput		  "[t, u]"  SaveTime		  on  TimeSaveName		  "tout"  SaveState		  off  StateSaveName		  "xout"  SaveOutput		  on  OutputSaveName	  "yout"  LoadInitialState	  off  InitialState		  "xInitial"  SaveFinalState	  off  FinalStateName	  "xFinal"  SaveFormat		  "Array"  LimitDataPoints	  off  MaxDataPoints		  "1000"  Decimation		  "1"  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"  ZeroCross		  on  Profile		  off  SimulationMode	  "normal"  RTWSystemTargetFile	  "grt.tlc"  RTWInlineParameters	  off  RTWRetainRTWFile	  off  RTWTemplateMakefile	  "grt_default_tmf"  RTWMakeCommand	  "make_rtw"  RTWGenerateCodeOnly	  off  TLCProfiler		  off  TLCDebug		  off  TLCCoverage		  off  AccelSystemTargetFile	  "accel.tlc"  AccelTemplateMakefile	  "accel_default_tmf"  AccelMakeCommand	  "make_rtw"  TryForcingSFcnDF	  off  ExtModeMexFile	  "ext_comm"  ExtModeBatchMode	  off  ExtModeTrigType	  "manual"  ExtModeTrigMode	  "oneshot"  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	  off  ExtModeSkipDownloadWhenConnect off  ExtModeLogAll		  on  ExtModeAutoUpdateStatusClock off  OptimizeBlockIOStorage  on  BufferReuse		  on  ParameterPooling	  on  BlockReductionOpt	  off  RTWExpressionDepthLimit 5  BooleanDataType	  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		    "servo"    Location		    [178, 283, 659, 580]    Open		    on    ModelBrowserVisibility  off    ModelBrowserWidth	    200    ScreenColor		    "white"    PaperOrientation	    "landscape"    PaperPositionMode	    "auto"    PaperType		    "usletter"    PaperUnits		    "inches"    ZoomFactor		    "100"    ReportName		    "simulink-default.rpt"    Block {      BlockType		      Clock      Name		      "Clock"      Position		      [75, 20, 95, 40]      DisplayTime	      off      Decimation	      "10"    }    Block {      BlockType		      SubSystem      Name		      "Computer"      Ports		      [2, 1]      Position		      [160, 121, 225, 179]      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      Port {	PortNumber		1	Name			"u"	TestPoint		off	LinearAnalysisOutput	off	LinearAnalysisInput	off	RTWStorageClass		"Auto"      }      System {	Name			"Computer"	Location		[94, 472, 436, 617]	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		  [15, 18, 45, 32]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "In 2"	  Position		  [15, 48, 45, 62]	  Port			  "2"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground1"	  Position		  [55, 100, 75, 120]	}	Block {	  BlockType		  Ground	  Name			  "Ground2"	  Position		  [55, 65, 75, 85]	}	Block {	  BlockType		  Mux	  Name			  "Mux"	  Ports			  [2, 1]	  Position		  [65, 16, 70, 54]	  ShowName		  off	  Inputs		  "2"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Scope	  Name			  "Schedule"	  Ports			  [1]	  Position		  [300, 54, 325, 76]	  Floating		  off	  Location		  [99, 595, 1117, 972]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "on"	  ZoomMode		  "on"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "2"	  YMin			  "0.8"	  YMax			  "1.7"	  SaveToWorkspace	  off	  SaveName		  "ScopeData"	  DataFormat		  "Array"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [260, 35, 280, 55]	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [255, 70, 275, 90]	}	Block {	  BlockType		  Terminator	  Name			  "Terminator2"	  Position		  [260, 100, 280, 120]	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 5]	  Position		  [115, 22, 230, 98]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  ""	  sfun			  "servo_init"	  args			  "1"	  battery		  off	  clockdrift		  "0"	  clockoffset		  "0"	}	Block {	  BlockType		  Outport	  Name			  "Out 1"	  Position		  [280, 13, 310, 27]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "In 1"	  SrcPort		  1	  DstBlock		  "Mux"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  Points		  [30, 0]	  DstBlock		  "Out 1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  DstBlock		  "Terminator"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  Points		  [0, 5]	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  Points		  [0, 5]	  DstBlock		  "Schedule"	  DstPort		  1	}	Line {	  SrcBlock		  "Ground2"	  SrcPort		  1	  Points		  [20, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  SrcBlock		  "Ground1"	  SrcPort		  1	  Points		  [20, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "Mux"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}	Line {	  SrcBlock		  "In 2"	  SrcPort		  1	  DstBlock		  "Mux"	  DstPort		  2	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  5	  Points		  [5, 0; 0, 20]	  DstBlock		  "Terminator2"	  DstPort		  1	}      }    }    Block {      BlockType		      TransferFcn      Name		      "DC Servo"      Position		      [270, 131, 340, 169]      Numerator		      "[1000]"      Denominator	      "[1 1 0]"      AbsoluteTolerance	      "auto"      Realization	      "auto"      Port {	PortNumber		1	Name			"y"	TestPoint		off	LinearAnalysisOutput	off	LinearAnalysisInput	off	RTWStorageClass		"Auto"      }    }    Block {      BlockType		      Display      Name		      "Display"      Ports		      [1]      Position		      [130, 15, 220, 45]      Format		      "short"      Decimation	      "1"      Floating		      off      SampleTime	      "-1"    }    Block {      BlockType		      Mux      Name		      "Mux"      Ports		      [2, 1]      Position		      [390, 76, 395, 114]      ShowName		      off      Inputs		      "2"      DisplayOption	      "bar"    }    Block {      BlockType		      SignalGenerator      Name		      "Signal\nGenerator"      Position		      [40, 120, 70, 150]      WaveForm		      "square"      Amplitude		      "1"      Frequency		      "1"      Units		      "Hertz"      VectorParams1D	      on      Port {	PortNumber		1	Name			"r"	TestPoint		off	LinearAnalysisOutput	off	LinearAnalysisInput	off	RTWStorageClass		"Auto"      }    }    Block {      BlockType		      Scope      Name		      "r,y"      Ports		      [1]      Position		      [425, 83, 450, 107]      Floating		      off      Location		      [594, 173, 997, 441]      Open		      off      NumInputPorts	      "1"      TickLabels	      "OneTimeTick"      ZoomMode		      "xonly"      List {	ListType		AxesTitles	axes1			"%<SignalLabel>"      }      List {	ListType		SelectedSignals	axes1			""      }      Grid		      "on"      TimeRange		      "2"      YMin		      "-1.5"      YMax		      "1.5"      SaveToWorkspace	      off      SaveName		      "ScopeData"      DataFormat	      "StructureWithTime"      LimitDataPoints	      off      MaxDataPoints	      "120000"      Decimation	      "1"      SampleInput	      off      SampleTime	      "0"    }    Block {      BlockType		      Scope      Name		      "u"      Ports		      [1]      Position		      [290, 58, 315, 82]      Floating		      off      Location		      [594, 495, 997, 763]      Open		      off      NumInputPorts	      "1"      TickLabels	      "OneTimeTick"      ZoomMode		      "xonly"      List {	ListType		AxesTitles	axes1			"%<SignalLabel>"      }      List {	ListType		SelectedSignals	axes1			""      }      Grid		      "on"      TimeRange		      "2"      YMin		      "-2"      YMax		      "2"      SaveToWorkspace	      off      SaveName		      "ScopeData1"      DataFormat	      "StructureWithTime"      LimitDataPoints	      off      MaxDataPoints	      "120000"      Decimation	      "1"      SampleInput	      off      SampleTime	      "0"    }    Line {      Name		      "u"      FontSize		      10      Labels		      [0, 1]      SrcBlock		      "Computer"      SrcPort		      1      Points		      [20, 0]      Branch {	DstBlock		"DC Servo"	DstPort			1      }      Branch {	Points			[0, -80]	DstBlock		"u"	DstPort			1      }    }    Line {      SrcBlock		      "Mux"      SrcPort		      1      DstBlock		      "r,y"      DstPort		      1    }    Line {      Name		      "r"      FontSize		      10      SrcBlock		      "Signal\nGenerator"      SrcPort		      1      Points		      [55, 0]      Branch {	Labels			[-1, 1]	DstBlock		"Computer"	DstPort			1      }      Branch {	Points			[0, -30]	DstBlock		"Mux"	DstPort			2      }    }    Line {      SrcBlock		      "Clock"      SrcPort		      1      DstBlock		      "Display"      DstPort		      1    }    Line {      Name		      "y"      Labels		      [0, 1]      SrcBlock		      "DC Servo"      SrcPort		      1      Points		      [15, 0]      Branch {	Labels			[-1, 1]	Points			[20, 0; 0, 65; -250, 0; 0, -50]	DstBlock		"Computer"	DstPort			2      }      Branch {	Points			[0, -65]	DstBlock		"Mux"	DstPort			1      }    }    Annotation {      Position		      [241, 261]      Text		      "TrueTime 1.5  PID-control of a DC servo\nCopyri""ght (c) 2007\nMartin Ohlin, Dan Henriksson and Anton Cervin\nDepartment of Au""tomatic Control, Lund University, Sweden\nPlease direct questions and bug rep""orts to:  truetime@control.lth.se "    }  }}