?? chap9_4.mdl
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Model {
Name "chap9_4"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
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StartTime "0.0"
StopTime "3"
SolverMode "Auto"
Solver "ode45"
RelTol "1e-3"
AbsTol "auto"
Refine "1"
MaxStep "auto"
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 "Matrix"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
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UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
ConsistencyChecking "off"
ZeroCross on
SimulationMode "normal"
BlockDataTips on
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RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
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RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
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ExtModeMexFile "ext_comm"
ExtModeBatchMode off
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ExtModeTrigMode "oneshot"
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 off
Created "Sun Sep 03 10:58:19 2000"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Administrator"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Mon Jun 28 14:36:42 2004"
ModelVersionFormat "1.%<AutoIncrement:233>"
ConfigurationManager "none"
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 "chap9_4"
Location [-5, 76, 791, 557]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType Clock
Name "Clock"
Position [160, 365, 180, 385]
DisplayTime off
Decimation "10"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3, 0, 0, 0]
Position [460, 122, 500, 178]
ShowName off
Outputs "3"
}
Block {
BlockType Derivative
Name "Derivative"
Position [295, 305, 325, 335]
}
Block {
BlockType Derivative
Name "Derivative1"
Position [285, 75, 315, 105]
Orientation "left"
}
Block {
BlockType Derivative
Name "Derivative2"
Position [370, 75, 400, 105]
Orientation "left"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [590, 102, 625, 138]
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [585, 292, 620, 328]
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1, 0, 0, 0]
Position [285, 132, 320, 168]
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Mux
Name "Mux3"
Ports [2, 1, 0, 0, 0]
Position [585, 217, 620, 253]
Inputs "2"
DisplayOption "none"
}
Block {
BlockType SubSystem
Name "PID \nController1"
Ports [1, 1, 0, 0, 0]
Position [220, 144, 260, 176]
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:"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskInitialization "P=@1; I=@2; D=@3;"
MaskDisplay "disp('PID')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "200|0|40"
System {
Name "PID \nController1"
Location [10, 74, 372, 318]
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ModelBrowserWidth 200
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Block {
BlockType Inport
Name "In_1"
Position [25, 65, 45, 85]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Gain
Name "D"
Position [95, 129, 115, 151]
Gain "D"
SaturateOnIntegerOverflow on
}
Block {
BlockType Derivative
Name "Derivative"
Position [150, 128, 190, 152]
}
Block {
BlockType TransferFcn
Name "Integral"
Position [110, 57, 145, 93]
Numerator "[I]"
Denominator "[1 0]"
}
Block {
BlockType Gain
Name "Proportional"
Position [120, 13, 140, 37]
Gain "P"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1, 0, 0, 0]
Position [245, 57, 265, 93]
IconShape "rectangular"
Inputs "+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out_1"
Position [290, 65, 310, 85]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "D"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out_1"
DstPort 1
}
Line {
SrcBlock "In_1"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 65]
DstBlock "D"
DstPort 1
}
Branch {
Points [15, 0]
Branch {
Points [0, -50]
DstBlock "Proportional"
DstPort 1
}
Branch {
DstBlock "Integral"
DstPort 1
}
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [20, 0; 0, -55]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Integral"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Proportional"
SrcPort 1
Points [65, 0; 0, 40]
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType "S-Function"
Name "S-Function"
Ports [1, 1, 0, 0, 0]
Position [350, 134, 435, 166]
FunctionName "chap9_4plant"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType SignalGenerator
Name "Signal\nGenerator"
Position [100, 135, 130, 165]
WaveForm "sine"
Amplitude "0.1"
Frequency "1"
Units "Hertz"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [175, 142, 205, 173]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [240, 363, 295, 387]
VariableName "t"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [655, 109, 685, 131]
VariableName "y"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [650, 224, 680, 246]
VariableName "Ff"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [650, 299, 680, 321]
VariableName "dy"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "PID \nController1"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 80; -380, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -40]
DstBlock "Derivative2"
DstPort 1
}
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "PID \nController1"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Derivative1"
SrcPort 1
Points [-15, 0; 0, 50]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Derivative2"
SrcPort 1
DstBlock "Derivative1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [10, 0; 0, 75]
DstBlock "Mux3"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [55, 0; 0, 75]
Branch {
Points [0, 75]
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Mux3"
DstPort 1
}
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "To Workspace2"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Signal\nGenerator"
SrcPort 1
Points [10, 0]
Branch {
Points [0, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -110; 430, 0]
DstBlock "Mux"
DstPort 1
}
}
Branch {
Points [0, 170]
DstBlock "Derivative"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace"
DstPort 1
}
}
}
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