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  RTWSystemTargetFile	  "grt.tlc"
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  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
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  ExtModeMexFile	  "ext_comm"
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  ExtModeWriteAllDataToWs off
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  Created		  "Sun Sep 03 10:58:19 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
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      Inputs		      "2"
      DisplayOption	      "none"
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    Block {
      BlockType		      SubSystem
      Name		      "PID \nController"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [340, 154, 380, 186]
      ShowPortLabels	      off
      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:"
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      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
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	  Position		  [95, 129, 115, 151]
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	  SaturateOnIntegerOverflow on
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	Block {
	  BlockType		  Derivative
	  Name			  "Derivative"
	  Position		  [150, 128, 190, 152]
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	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral"
	  Position		  [110, 57, 145, 93]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
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	Block {
	  BlockType		  Gain
	  Name			  "Proportional"
	  Position		  [120, 13, 140, 37]
	  Gain			  "P"
	  SaturateOnIntegerOverflow on
	}
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	  BlockType		  Sum
	  Name			  "Sum"
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	  BlockType		  Outport
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	  Branch {
	    Points		    [15, 0]
	    Branch {
	      Points		      [0, -50]
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	      DstBlock		      "Integral"
	      DstPort		      1
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	  Points		  [20, 0; 0, -55]
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	  DstBlock		  "Sum"
	  DstPort		  2
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	Line {
	  SrcBlock		  "Proportional"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum"
	  DstPort		  1
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    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [595, 159, 625, 191]
      Floating		      off
      Location		      [229, 247, 674, 486]
      Open		      on
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      Grid		      "on"
      TimeRange		      "10"
      YMin		      "-1"
      YMax		      "1"
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      SaveName		      "ScopeData"
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      MaxRows		      "5000"
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    Block {
      BlockType		      SignalGenerator
      Name		      "Signal\nGenerator"
      Position		      [210, 145, 240, 175]
      WaveForm		      "sine"
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      Frequency		      "0.2"
      Units		      "Hertz"
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    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [275, 152, 305, 183]
      IconShape		      "rectangular"
      Inputs		      "+-"
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    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [410, 152, 485, 188]
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      Denominator	      "[1 25 0]"
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      SrcPort		      1
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	DstBlock		"Mux"
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}