Block {
      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [2, 1]
      Position		      [190, 525, 195, 585]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
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    Block {
      BlockType		      Mux
      Name		      "Mux3"
      Ports		      [2, 1]
      Position		      [640, 415, 645, 475]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      DiscreteStateSpace
      Name		      "Osservatore Dinamico\ndello Stato"
      Position		      [285, 537, 405, 573]
      FontSize		      10
      A			      "Ao"
      B			      "Bo"
      C			      "Co"
      D			      "Do"
      X0		      "0"
      SampleTime	      "Tc"
      Realization	      "auto"
      RTWStateStorageClass    "Auto"
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    Block {
      BlockType		      FromWorkspace
      Name		      "Rumore\nGaussiano"
      Position		      [25, 193, 90, 217]
      FontSize		      10
      VariableName	      "[t w]"
      SampleTime	      "Tc"
      Interpolate	      on
      OutputAfterFinalValue   "Extrapolation"
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    Block {
      BlockType		      FromWorkspace
      Name		      "Rumore\nGaussiano "
      Position		      [355, 203, 420, 227]
      FontSize		      10
      VariableName	      "[t v]"
      SampleTime	      "Tc"
      Interpolate	      on
      OutputAfterFinalValue   "Extrapolation"
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    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [560, 139, 590, 171]
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      List {
	ListType		SelectedSignals
	axes1			""
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      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
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    Block {
      BlockType		      DiscreteStateSpace
      Name		      "Sistema Dinamico\nDiscreto"
      Position		      [255, 137, 375, 173]
      FontSize		      10
      A			      "A"
      B			      "[B B]"
      C			      "C"
      D			      "D"
      X0		      "0"
      SampleTime	      "Tc"
      Realization	      "auto"
      RTWStateStorageClass    "Auto"
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    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [430, 145, 450, 165]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [485, 340, 505, 360]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [510, 545, 530, 565]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
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    Line {
      SrcBlock		      "Ingresso"
      SrcPort		      1
      Points		      [45, 0; 0, 35]
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[0, 190]
	Branch {
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 205]
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Rumore\nGaussiano"
      SrcPort		      1
      Points		      [15, 0; 0, -40]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Sistema Dinamico\nDiscreto"
      DstPort		      1
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    Line {
      SrcBlock		      "Sistema Dinamico\nDiscreto"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
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    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 110; -390, 0; 0, 100]
	Branch {
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 60]
	  Branch {
	    Points		    [0, 145]
	    Branch {
	      DstBlock		      "Mux2"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [0, 55; 420, 0]
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
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	  Branch {
	    Points		    [395, 0]
	    DstBlock		    "Sum1"
	    DstPort		    2
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	}
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    }
    Line {
      SrcBlock		      "Rumore\nGaussiano "
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Estimation Error\nOutput Observer"
	DstPort			1
      }
      Branch {
	Points			[0, -95]
	DstBlock		"Mux3"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	DstBlock		"Estimation Error \nKalman Filter"
	DstPort			1
      }
      Branch {
	Points			[0, 80]
	DstBlock		"Mux3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "Confronto\nStime"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "Osservatore Dinamico\ndello Stato"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Osservatore Dinamico\ndello Stato"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Filtro di Kalman"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Filtro di Kalman"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Annotation {
      Position		      [159, 112]
      Text		      "u(t)"
    }
    Annotation {
      Position		      [164, 184]
      Text		      "w(t)"
    }
    Annotation {
      Position		      [471, 137]
      Text		      "y(t)"
    }
    Annotation {
      Position		      [452, 218]
      Text		      "v(t)"
    }
    Annotation {
      Position		      [160, 321]
      Text		      "u(t)"
    }
    Annotation {
      Position		      [161, 381]
      Text		      "y(t)"
    }
    Annotation {
      Position		      [160, 526]
      Text		      "u(t)"
    }
    Annotation {
      Position		      [161, 586]
      Text		      "y(t)"
    }
  }
}