Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  Points		  [0, 15]	  DstBlock		  "Terminator"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 2\n(Actuator)"      Ports		      [1, 1]      Position		      [272, 120, 328, 165]      Orientation	      "up"      BackgroundColor	      "lightBlue"      NamePlacement	      "alternate"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 2\n(Actuator)"	Location		[383, 464, 730, 614]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "Rcv"	  Position		  [30, 83, 60, 97]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [20, 55, 40, 75]	  ShowName		  off	}	Block {	  BlockType		  Ground	  Name			  "Ground1"	  Position		  [20, 30, 40, 50]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, actuator node"	  Ports			  [1]	  Position		  [275, 64, 300, 86]	  Floating		  off	  Location		  [83, 518, 897, 977]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "on"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "3.7"	  SaveToWorkspace	  off	  SaveName		  "ScopeData"	  DataFormat		  "Array"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [225, 85, 245, 105]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [225, 45, 245, 65]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 5]	  Position		  [80, 27, 195, 103]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  ""	  sfun			  "actuator_init"	  args			  "0"	  battery		  off	  clockdrift		  "0"	  clockoffset		  "0"	}	Block {	  BlockType		  Outport	  Name			  "D/A"	  Position		  [270, 28, 300, 42]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "Ground1"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}	Line {	  SrcBlock		  "Rcv"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  Labels		  [1, 0]	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  DstBlock		  "D/A"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  Points		  [0, 5]	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  Points		  [0, 10]	  DstBlock		  "Schedule, actuator node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  Points		  [0, 15]	  DstBlock		  "Terminator"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 3\n(Controller)"      Ports		      [2, 1]      Position		      [426, 280, 484, 325]      Orientation	      "up"      BackgroundColor	      "lightBlue"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 3\n(Controller)"	Location		[534, 344, 882, 487]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "Rcv"	  Position		  [15, 98, 45, 112]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "r"	  Position		  [15, 28, 45, 42]	  Port			  "2"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [20, 60, 40, 80]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, computer node"	  Ports			  [1]	  Position		  [270, 68, 295, 92]	  Floating		  off	  Location		  [276, 407, 1016, 653]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "OneTimeTick"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "4.7"	  SaveToWorkspace	  off	  SaveName		  "schedule"	  DataFormat		  "StructureWithTime"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [235, 90, 255, 110]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [270, 30, 290, 50]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 5]	  Position		  [85, 32, 200, 108]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  ""	  sfun			  "controller_init"	  args			  "0"	  battery		  off	  clockdrift		  "0"	  clockoffset		  "0"	}	Block {	  BlockType		  Outport	  Name			  "Snd"	  Position		  [230, 53, 260, 67]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  Points		  [0, 5]	  DstBlock		  "Snd"	  DstPort		  1	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  SrcBlock		  "r"	  SrcPort		  1	  Points		  [20, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}	Line {	  SrcBlock		  "Rcv"	  SrcPort		  1	  Points		  [20, 0]	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  Points		  [0, 10]	  DstBlock		  "Schedule, computer node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  Points		  [0, 15]	  DstBlock		  "Terminator"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "Node 4\n(Sensor)"      Ports		      [1, 1]      Position		      [502, 120, 558, 165]      Orientation	      "down"      BackgroundColor	      "lightBlue"      NamePlacement	      "alternate"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      System {	Name			"Node 4\n(Sensor)"	Location		[791, 362, 1126, 511]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	Block {	  BlockType		  Inport	  Name			  "A/D"	  Position		  [15, 28, 45, 42]	  Port			  "1"	  LatchInput		  off	  Interpolate		  on	}	Block {	  BlockType		  Ground	  Name			  "Ground"	  Position		  [20, 55, 40, 75]	  ShowName		  off	}	Block {	  BlockType		  Ground	  Name			  "Ground1"	  Position		  [20, 80, 40, 100]	  ShowName		  off	}	Block {	  BlockType		  Scope	  Name			  "Schedule, sensor node"	  Ports			  [1]	  Position		  [265, 64, 290, 86]	  Floating		  off	  Location		  [38, 422, 852, 881]	  Open			  off	  NumInputPorts		  "1"	  TickLabels		  "on"	  ZoomMode		  "xonly"	  List {	    ListType		    AxesTitles	    axes1		    "%<SignalLabel>"	  }	  List {	    ListType		    SelectedSignals	    axes1		    ""	  }	  Grid			  "on"	  TimeRange		  "0.6"	  YMin			  "0.8"	  YMax			  "3.7"	  SaveToWorkspace	  off	  SaveName		  "ScopeData"	  DataFormat		  "Array"	  LimitDataPoints	  off	  MaxDataPoints		  "5000"	  Decimation		  "1"	  SampleInput		  off	  SampleTime		  "0"	}	Block {	  BlockType		  Terminator	  Name			  "Terminator"	  Position		  [225, 85, 245, 105]	  ShowName		  off	}	Block {	  BlockType		  Terminator	  Name			  "Terminator1"	  Position		  [270, 30, 290, 50]	  ShowName		  off	}	Block {	  BlockType		  Reference	  Name			  "TrueTime Kernel"	  Ports			  [3, 5]	  Position		  [85, 27, 200, 103]	  DropShadow		  on	  SourceBlock		  "truetime/TrueTime Kernel"	  SourceType		  ""	  sfun			  "sensor_init"	  args			  "0"	  battery		  off	  clockdrift		  "0"	  clockoffset		  "0"	}	Block {	  BlockType		  Outport	  Name			  "Snd"	  Position		  [225, 48, 255, 62]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  4	  Points		  [0, 15]	  DstBlock		  "Terminator"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  3	  Points		  [0, 10]	  DstBlock		  "Schedule, sensor node"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  2	  Points		  [0, 5]	  DstBlock		  "Snd"	  DstPort		  1	}	Line {	  SrcBlock		  "TrueTime Kernel"	  SrcPort		  1	  Points		  [0, 5]	  DstBlock		  "Terminator1"	  DstPort		  1	}	Line {	  SrcBlock		  "Ground"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  2	}	Line {	  SrcBlock		  "Ground1"	  SrcPort		  1	  DstBlock		  "TrueTime Kernel"	  DstPort		  3	}	Line {	  SrcBlock		  "A/D"	  SrcPort		  1	  Points		  [0, 5]	  DstBlock		  "TrueTime Kernel"	  DstPort		  1	}      }    }    Block {      BlockType		      SignalGenerator      Name		      "Reference"      Position		      [335, 390, 365, 420]      WaveForm		      "square"      Amplitude		      "1"      Frequency		      "2"      Units		      "Hertz"      VectorParams1D	      on    }    Block {      BlockType		      Scope      Name		      "r, y; u"      Ports		      [2]      Position		      [535, 389, 580, 431]      Floating		      off      Location		      [434, 449, 1031, 861]      Open		      off      NumInputPorts	      "2"      TickLabels	      "OneTimeTick"      ZoomMode		      "xonly"      List {	ListType		AxesTitles	axes1			"%<SignalLabel>"	axes2			"%<SignalLabel>"      }      List {	ListType		SelectedSignals	axes1			""	axes2			""      }      Grid		      "on"      TimeRange		      "1"      YMin		      "-1.5~-4"      YMax		      "1.5~4"      SaveToWorkspace	      off      SaveName		      "y"      DataFormat	      "StructureWithTime"      LimitDataPoints	      off      MaxDataPoints	      "5000"      Decimation	      "1"      SampleInput	      off      SampleTime	      "0"    }    Line {      SrcBlock		      "Clock"      SrcPort		      1      DstBlock		      "Display"      DstPort		      1    }    Line {      SrcBlock		      "Network"      SrcPort		      2      Points		      [10, 0]      DstBlock		      "Node 2\n(Actuator)"      DstPort		      1    }    Line {      SrcBlock		      "Node 2\n(Actuator)"      SrcPort		      1      Points		      [0, -40; 10, 0]      Branch {	DstBlock		"DC Servo"	DstPort			1      }      Branch {	DstBlock		"Goto1"	DstPort			1      }    }    Line {      SrcBlock		      "Node 4\n(Sensor)"      SrcPort		      1      DstBlock		      "Network"      DstPort		      4    }    Line {      SrcBlock		      "DC Servo"      SrcPort		      1      Points		      [-5, 0; 20, 0]      Branch {	Points			[55, 0]	DstBlock		"Node 4\n(Sensor)"	DstPort			1      }      Branch {	DstBlock		"Goto"	DstPort			1      }    }    Line {      SrcBlock		      "Node 3\n(Controller)"      SrcPort		      1      Points		      [0, -95; -45, 0]      DstBlock		      "Network"      DstPort		      3    }    Line {      Name		      "r, y"      Labels		      [0, 0]      SrcBlock		      "Mux"      SrcPort		      1      DstBlock		      "r, y; u"      DstPort		      1    }    Line {      SrcBlock		      "From"      SrcPort		      1      DstBlock		      "Mux"      DstPort		      1    }    Line {      SrcBlock		      "Reference"      SrcPort		      1      Points		      [0, 0; 40, 0]      Branch {	DstBlock		"Mux"	DstPort			2      }      Branch {	Points			[0, -35; 60, 0]	DstBlock		"Node 3\n(Controller)"	DstPort			2      }    }    Line {      Name		      "u"      Labels		      [-1, 0]      SrcBlock		      "From1"      SrcPort		      1      DstBlock		      "r, y; u"      DstPort		      2    }    Line {      SrcBlock		      "Node 1\n(Interference)"      SrcPort		      1      DstBlock		      "Network"      DstPort		      1    }    Line {      SrcBlock		      "Network"      SrcPort		      3      Points		      [0, 100; 30, 0]      DstBlock		      "Node 3\n(Controller)"      DstPort		      1    }    Annotation {      Position		      [191, 321]      Text		      "TrueTime 1.5  Distributed Control System\nCopyr""ight (c) 2007\nMartin Ohlin, Dan Henriksson and Anton Cervin\nDepartment of A""utomatic Control, Lund University, Sweden\nPlease direct questions and bug re""ports to:  truetime@control.lth.se "    }  }}