SampleTime	      "inf"
    }
    Block {
      BlockType		      Demux
      Outputs		      "4"
      DisplayOption	      "none"
      BusSelectionMode	      off
    }
    Block {
      BlockType		      Derivative
      LinearizePole	      "inf"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Inport
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      ZeroCross		      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
      FixptAsFi		      off
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      TransportDelay
      DelayTime		      "1"
      InitialInput	      "0"
      BufferSize	      "1024"
      PadeOrder		      "0"
      TransDelayFeedthrough   off
    }
  }
  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		    "FUZZYPID"
    Location		    [2, 82, 1014, 743]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Advance PID"
      Ports		      [4, 1]
      Position		      [590, 192, 650, 343]
      FontSize		      12
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Advance PID"
	Location		[89, 385, 938, 821]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Kp'"
	  Position		  [60, 28, 90, 42]
	  NamePlacement		  "alternate"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "Ki'"
	  Position		  [260, 33, 290, 47]
	  NamePlacement		  "alternate"
	  Port			  "2"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "Kd'"
	  Position		  [460, 33, 490, 47]
	  NamePlacement		  "alternate"
	  Port			  "3"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "E"
	  Position		  [25, 253, 55, 267]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative"
	  Position		  [210, 322, 260, 358]
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [220, 241, 255, 279]
	}
	Block {
	  BlockType		  Constant
	  Name			  "Kd"
	  Position		  [485, 100, 515, 130]
	  Value			  "0.2"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Ki"
	  Position		  [275, 100, 305, 130]
	  Value			  "0.1"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Kp"
	  Position		  [65, 105, 95, 135]
	  Value			  "2"
	}
	Block {
	  BlockType		  Product
	  Name			  "Kup"
	  Ports			  [2, 1]
	  Position		  [245, 177, 275, 208]
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Product
	  Name			  "Kup1"
	  Ports			  [2, 1]
	  Position		  [440, 177, 470, 208]
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Product
	  Name			  "Kup2"
	  Ports			  [2, 1]
	  Position		  [665, 172, 695, 203]
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [185, 46, 205, 119]
	  ShowName		  off
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [390, 46, 410, 119]
	  ShowName		  off
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [600, 41, 620, 114]
	  ShowName		  off
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [3, 1]
	  Position		  [735, 168, 760, 312]
	  ShowName		  off
	  Inputs		  "+++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain1"
	  Position		  [120, 47, 160, 83]
	  NamePlacement		  "alternate"
	  Gain			  "0.1"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain2"
	  Position		  [325, 47, 365, 83]
	  NamePlacement		  "alternate"
	  Gain			  "0.06"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain3"
	  Position		  [540, 42, 580, 78]
	  NamePlacement		  "alternate"
	  Gain			  "0.8"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain4"
	  Position		  [145, 182, 185, 218]
	  NamePlacement		  "alternate"
	  Gain			  "1.5"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Outport
	  Name			  "u"
	  Position		  [790, 233, 820, 247]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Kp'"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "gain1"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Kp"
	  SrcPort		  1
	  Points		  [55, 0; 0, -20]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Ki'"