Model {  Name			  "controller"  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  off  BlockDescriptionStringDataTip	off  ToolBar		  on  StatusBar		  on  BrowserShowLibraryLinks off  BrowserLookUnderMasks	  off  Created		  "Tue Oct 30 13:46:27 2001"  Creator		  "dan"  UpdateHistory		  "UpdateHistoryNever"  ModifiedByFormat	  "%<Auto>"  LastModifiedBy	  "anton"  ModifiedDateFormat	  "%<Auto>"  LastModifiedDate	  "Thu Jan  4 10:02:36 2007"  ModelVersionFormat	  "1.%<AutoIncrement:59>"  ConfigurationManager	  "none"  SimParamPage		  "Solver"  StartTime		  "0.0"  StopTime		  "10.0"  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		  "[]"  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	  on  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	  "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 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		    "controller"    Location		    [232, 397, 568, 599]    Open		    on    ModelBrowserVisibility  off    ModelBrowserWidth	    200    ScreenColor		    "white"    PaperOrientation	    "landscape"    PaperPositionMode	    "auto"    PaperType		    "usletter"    PaperUnits		    "inches"    ZoomFactor		    "100"    ReportName		    "simulink-default.rpt"    Block {      BlockType		      Inport      Name		      "r"      Position		      [70, 33, 100, 47]      Port		      "1"      LatchInput	      off      Interpolate	      on    }    Block {      BlockType		      Inport      Name		      "y"      Position		      [70, 63, 100, 77]      Port		      "2"      LatchInput	      off      Interpolate	      on    }    Block {      BlockType		      SubSystem      Name		      "Discrete time\nPID controller"      Ports		      [2, 1]      Position		      [130, 23, 185, 87]      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      MaskPromptString	      "K|Ti|Td|beta|N|h"      MaskStyleString	      "edit,edit,edit,edit,edit,edit"      MaskTunableValueString  "on,on,on,on,on,on"      MaskCallbackString      "|||||"      MaskEnableString	      "on,on,on,on,on,on"      MaskVisibilityString    "on,on,on,on,on,on"      MaskToolTipString	      "on,on,on,on,on,on"      MaskVariables	      "K=@1;Ti=@2;Td=@3;beta=@4;N=@5;h=@6;"      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "autoscale"      MaskValueString	      "0.96|0.12|0.049|0.5|10|0.006"      MaskVariableAliases     ",,,,,"      System {	Name			"Discrete time\nPID controller"	Location		[163, 64, 800, 373]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "r"	  Position		  [15, 93, 45, 107]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "y"	  Position		  [15, 188, 45, 202]	  Port			  "2"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  UnitDelay	  Name			  "\n"	  Position		  [170, 176, 205, 214]	  X0			  "0"	  SampleTime		  "1"	  RTWStateStorageClass	  "Auto"	}	Block {	  BlockType		  Gain	  Name			  "\n\n\n"	  Position		  [175, 85, 205, 115]	  Gain			  "K*h/Ti"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "             "	  Position		  [290, 180, 320, 210]	  NamePlacement		  "alternate"	  Gain			  "K*Td*N/(Td+N*h)"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "              "	  Position		  [470, 245, 500, 275]	  Orientation		  "left"	  NamePlacement		  "alternate"	  Gain			  "Td/(Td+N*h)"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  UnitDelay	  Name			  "Dold"	  Position		  [480, 175, 515, 215]	  X0			  "0"	  SampleTime		  "1"	  RTWStateStorageClass	  "Auto"	}	Block {	  BlockType		  UnitDelay	  Name			  "Iold "	  Position		  [315, 80, 350, 120]	  X0			  "0"	  SampleTime		  "1"	  RTWStateStorageClass	  "Auto"	}	Block {	  BlockType		  Gain	  Name			  "K"	  Position		  [210, 15, 240, 45]	  Gain			  "K"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum"	  Ports			  [2, 1]	  Position		  [100, 90, 120, 110]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|+-"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum1"	  Ports			  [3, 1]	  Position		  [520, 67, 545, 133]	  ShowName		  off	  IconShape		  "rectangular"	  Inputs		  "+++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum2"	  Ports			  [2, 1]	  Position		  [255, 90, 275, 110]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum3"	  Ports			  [2, 1]	  Position		  [225, 185, 245, 205]	  NamePlacement		  "alternate"	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|+-"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum4"	  Ports			  [2, 1]	  Position		  [360, 185, 380, 205]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|++"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Sum	  Name			  "Sum5"	  Ports			  [2, 1]	  Position		  [135, 20, 155, 40]	  ShowName		  off	  IconShape		  "round"	  Inputs		  "|+-"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "beta"	  Position		  [85, 15, 115, 45]	  Gain			  "beta"	  Multiplication	  "Element-wise(K.*u)"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Outport	  Name			  "u"	  Position		  [585, 93, 615, 107]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "y"	  SrcPort		  1	  Points		  [60, 0]	  Branch {	    DstBlock		    "Sum"	    DstPort		    2	  }	  Branch {	    Points		    [0, 65; 125, 0]	    DstBlock		    "Sum3"	    DstPort		    2	  }	  Branch {	    Points		    [35, 0]	    Branch {	      DstBlock		      "\n"	      DstPort		      1	    }	    Branch {	      DstBlock		      "Sum5"	      DstPort		      2	    }	  }	}	Line {	  SrcBlock		  "r"	  SrcPort		  1	  Points		  [10, 0]	  Branch {	    DstBlock		    "Sum"	    DstPort		    1	  }	  Branch {	    Points		    [0, -70]	    DstBlock		    "beta"	    DstPort		    1	  }	}	Line {	  SrcBlock		  "Sum1"	  SrcPort		  1	  DstBlock		  "u"	  DstPort		  1	}	Line {	  SrcBlock		  "K"	  SrcPort		  1	  Points		  [190, 0; 0, 50]	  DstBlock		  "Sum1"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum2"	  SrcPort		  1	  DstBlock		  "Iold "	  DstPort		  1	}	Line {	  SrcBlock		  "Dold"	  SrcPort		  1	  Points		  [40, 0; 0, 65]	  DstBlock		  "              "	  DstPort		  1	}	Line {	  SrcBlock		  "             "	  SrcPort		  1	  DstBlock		  "Sum4"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum3"	  SrcPort		  1	  DstBlock		  "             "	  DstPort		  1	}	Line {	  SrcBlock		  "Sum4"	  SrcPort		  1	  Points		  [50, 0]	  Branch {	    DstBlock		    "Dold"	    DstPort		    1	  }	  Branch {	    Points		    [0, -75]	    DstBlock		    "Sum1"	    DstPort		    3	  }	}	Line {	  SrcBlock		  "\n"	  SrcPort		  1	  DstBlock		  "Sum3"	  DstPort		  1	}	Line {	  SrcBlock		  "Iold "	  SrcPort		  1	  Points		  [40, 0]	  Branch {	    Points		    [0, 45; -130, 0]	    DstBlock		    "Sum2"	    DstPort		    2	  }	  Branch {	    DstBlock		    "Sum1"	    DstPort		    2	  }	}	Line {	  SrcBlock		  "\n\n\n"	  SrcPort		  1	  DstBlock		  "Sum2"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum"	  SrcPort		  1	  DstBlock		  "\n\n\n"	  DstPort		  1	}	Line {	  SrcBlock		  "              "	  SrcPort		  1	  Points		  [-95, 0]	  DstBlock		  "Sum4"	  DstPort		  2	}	Line {	  SrcBlock		  "beta"	  SrcPort		  1	  DstBlock		  "Sum5"	  DstPort		  1	}	Line {	  SrcBlock		  "Sum5"	  SrcPort		  1	  DstBlock		  "K"	  DstPort		  1	}	Annotation {	  Position		  [186, 126]	  Text			  "K*h/Ti"	}	Annotation {	  Position		  [294, 224]	  Text			  "K*Td*N/(Td+N*h)"	}	Annotation {	  Position		  [492, 288]	  Text			  "Td/(Td+N*h)"	}	Annotation {	  Position		  [186, 222]	  Text			  "yold"	}      }    }    Block {      BlockType		      Constant      Name		      "ExecTime"      Position		      [140, 131, 175, 159]      Value		      "0.002"      VectorParams1D	      on    }    Block {      BlockType		      Outport      Name		      "u"      Position		      [220, 48, 250, 62]      Port		      "1"      OutputWhenDisabled      "held"      InitialOutput	      "[]"    }    Block {      BlockType		      Outport      Name		      "e"      Position		      [215, 138, 245, 152]      Port		      "2"      OutputWhenDisabled      "held"      InitialOutput	      "[]"    }    Line {      SrcBlock		      "Discrete time\nPID controller"      SrcPort		      1      DstBlock		      "u"      DstPort		      1    }    Line {      SrcBlock		      "y"      SrcPort		      1      DstBlock		      "Discrete time\nPID controller"      DstPort		      2    }    Line {      SrcBlock		      "r"      SrcPort		      1      DstBlock		      "Discrete time\nPID controller"      DstPort		      1    }    Line {      SrcBlock		      "ExecTime"      SrcPort		      1      DstBlock		      "e"      DstPort		      1    }  }}